The invention relates to a self-adaptive variable-rigidity sole based on a tensegrity structure and a control method thereof.The self-adaptive variable-rigidity sole comprises a tensegrity ankle joint which is used for being fixedly connected with the foot end of a quadruped robot and can achieve inward turning, outward turning, plantar flexion and dorsiflexion movement, and a self-adaptive variable-rigidity tensegrity sole part is installed on the lower side of the tensegrity ankle joint; and a silica gel sole is arranged at the bottom of the tensioning sole part. The self-adaptive variable-stiffness sole can adapt to and envelop a plurality of non-structural terrains, and the terrain trafficability of the foot type robot is enhanced.
本发明涉及一种基于张拉整体结构的自适应变刚度脚掌及其控制方法,包括用于与四足机器人的足端固定连接并能够实现内翻、外翻、跖屈及背屈运动的张拉踝关节,所述张拉踝关节的下侧安装有自适应变刚度的张拉掌部,所述张拉掌部的底部设置有硅胶脚底。该自适应变刚度脚掌能够适应包络许多非结构地形,增强足式机器人的地形通过性。
Self-adaptive variable-stiffness sole based on tensegrity structure and control method of self-adaptive variable-stiffness sole
基于张拉整体结构的自适应变刚度脚掌及其控制方法
2024-12-17
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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