The invention discloses a two-section type foot end which comprises a foot part and a shoe part, the shoe part is made of integrally-formed flexible materials and covers the bottom face of the foot part in a shoe sole mode, a groove is formed in the middle area of the shoe part, the shoe part is divided into a front section and a rear section through the groove, and the front section and the rear section are made of elastic materials. The groove of the shoe part simulates an arch, and the front section and the rear section of the shoe part simulate a two-section type foot end structure of a front sole and a rear sole; the invention further discloses a biped robot using the two-section type foot end. Human gaits can be better simulated, meanwhile, the size and mass of the foot end can be reduced, due to the fact that no active or passive joint is additionally arranged on the foot end, the complexity of the foot end and the difficulty of robot control are greatly reduced, and cost is reduced.

    本发明公开了一种两段式足端,包括足部分和鞋部分,所述鞋部分采用一体成型的柔性材料并以鞋底的形式覆盖于所述足部分的底面,所述鞋部分的中间区域设置有凹槽,所述凹槽将所述鞋部分分隔为前段和后段,从而形成由所述鞋部分的凹槽模拟足弓、由所述鞋部分的前段和后段模拟前后脚掌的两段式足端结构;本发明还公开了一种使用上述两段式足端的双足机器人;本发明能够更好地模拟人类步态,同时还能够减小足端的体积和质量,由于不在足端上增加主动或被动关节,大大减少了足端的复杂度和机器人控制的难度,并降低成本。


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    Title :

    Two-section type foot end and biped robot


    Additional title:

    一种两段式足端及双足机器人


    Contributors:
    LIANG BIN (author) / LIU HOUDE (author) / ZHOU ZHIHAO (author) / WANG XUEQIAN (author) / CHENG YI (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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