The invention discloses a humanoid mechanical foot for a humanoid robot. Comprising a foot frame connecting shanks and other foot parts of the humanoid robot, a split type foot arch, an elastic buffer assembly forming a three-connecting-rod with the foot arch, a heel, an elastic buffer assembly forming a three-connecting-rod with the heel, two-degree-of-freedom toes with an automatic reset function and a ground contact detection sensor. By designing the toes with pitch degrees of freedom, the forefoot of the robot integrally rotates relative to the foot, so that a human-simulated gait can be realized; by designing toes, arch elastic buffering assemblies and heel elastic buffering assemblies with roll freedom degrees, the capacity of the foot of the robot for adapting to different terrains is enhanced; by designing a contact sensor at the foot, the foot-to-ground sensing ability of the robot is improved, so that the robot has the ability of realizing static gait. According to the invention, the robot can be more energy-saving and lower in noise, and more simulates the straight knee and toe-following gaits of people; the capacity of buffering foot impact and adapting to the unstructured ground is achieved.

    本发明公开了一种用于人形机器人的仿人足机械足,包括连接人形机器人小腿和其他足部部件的足部框架、分体式足弓、与足弓组成三连杆的弹性缓冲组件、足跟、与足跟组成三连杆的弹性缓冲组件、具备自动复位功能的两自由度脚趾、触地检测传感器。本发明通过设计具有pitch自由度的脚趾,使机器人前脚掌相对足部整体旋转,从而能够实现仿人步态;通过设计具有roll自由度的脚趾、足弓弹性缓冲组件、足跟弹性缓冲组件,增强了机器人足部适应不同地形的能力;通过在足部设计接触传感器,增加了机器人足地感知能力,从而具备实现静态步态的能力。本发明可使机器人实现更加节能、噪音更少、更加仿人的直膝、跟趾步态;具备缓冲足地冲击、适应非结构化地面的能力。


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    Title :

    Humanoid mechanical foot for humanoid robot


    Additional title:

    一种用于人形机器人的仿人足机械足


    Contributors:
    XU KUN (author) / XU MINGHAO (author) / LUO JUNYANG (author) / CHEN JIAWEI (author) / DING XILUN (author)

    Publication date :

    2024-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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