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。


    Access

    Download


    Export, share and cite



    Title :

    Self-adaptive variable-stiffness sole based on tensegrity structure and control method of self-adaptive variable-stiffness sole


    Additional title:

    基于张拉整体结构的自适应变刚度脚掌及其控制方法


    Contributors:
    GAO DAN (author) / XIA RONGBIAO (author) / CHEN BINGXING (author)

    Publication date :

    2024-12-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



    VARIABLE STIFFNESS SOLE FOR ROBOT

    BAEK KYU CHO | European Patent Office | 2022

    Free access

    VARIABLE STIFFNESS SOLE FOR ROBOT

    European Patent Office | 2023

    Free access

    Self-adaptive variable-stiffness fin and working method thereof

    ZHONG YONG / WANG QIXIN / HUANG PEIQI et al. | European Patent Office | 2025

    Free access

    Variable-rigidity self-adaptive gecko-imitated sole with active adhesion/desorption capacity and method

    YU ZHIWEI / LIU QI / XIONG JIANYU et al. | European Patent Office | 2020

    Free access

    Variable-stiffness self-adaptive toe joint, toe joint operation method and application thereof

    LIANG BIN / NING CHUANXIN / LIU HOUDE et al. | European Patent Office | 2024

    Free access