The invention discloses a foot structure of a humanoid robot, and relates to the technical field of humanoid robots, the foot structure comprises a control module, a power unit and a foot crawler unit which are mounted on a foot structure plate, and the power unit comprises a foot swing motor, a crawler driving motor and a foot rotating mechanism; the foot swing motor and the track driving motor are electrically connected with the control module; when the robot faces stairs or a greatly fluctuating road surface, the robot can control the feet to swing through the foot swing motor, the feet are lifted and the shanks move through the synergistic effect of the crank and the connecting rod, and therefore the actions of going up and down the stairs are completed; due to the flexibility characteristic of the crawler belt, the robot can better adapt to road surface changes when passing through a road surface with small fluctuation, jolt is reduced, and more stable walking experience is provided. The foot structure of the humanoid robot has remarkable trafficability and adaptability advantages in complex and changeable terrains.

    本发明公开一种人形机器人的足部结构,涉及人形机器人技术领域,包括安装在足部结构板块上的控制模块、动力单元和足部履带单元,动力单元包括足部摆动电机、履带驱动电机和足部旋转机构,足部摆动电机和履带驱动电机均与控制模块电连接;在面对楼梯或较大起伏的路面时,机器人可以利用足部摆动电机控制足部的摆动,通过曲柄和连杆的协同作用,实现抬脚和小腿的移动,从而完成上下楼梯的动作;履带的柔性特性使得机器人在通过起伏较小的路面时,能够更好地适应路面变化,减少颠簸,提供更加平稳的行走体验。本发明的人形机器人的足部结构,在复杂多变的地形中具有显著的通过性和适应性优势。


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    Title :

    Foot structure of humanoid robot


    Additional title:

    一种人形机器人的足部结构


    Contributors:
    PU HUAYAN (author) / ZENG BOLE (author) / MA JIE (author) / LUO JUN (author)

    Publication date :

    2025-03-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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