According to the biped robot foot structure capable of adapting to the complex road surface, the whole foot structure is designed through modular decomposition, when a user walks on the wet and slippery flat ground, the foot obtains information of foot sole sensors on the front foot sole and the rear foot sole in real time, and the virtual constraint structure is actively controlled through an electric cylinder; stress of a front longitudinal arch sole joint is reduced, meanwhile, the ground pressure transmission direction of a foot structure is improved, the ground pressure is kept in a friction cone as much as possible, and therefore the robot is prevented from slipping; when the robot walks on an uneven road surface, the electric cylinder actively controls the ground contact angle of the front foot sole, and the spring guide rod of the rear foot sole is assisted, so that active and passive self-adaptive adjustment of the foot of the robot to the ground is realized. The electric cylinder is used as a virtual constraint structure for active control, and the spring telescopic rod structure of the rear sole imitating ligament is combined, so that active and passive self-adaption of the feet of the robot to different complex road surfaces is realized, and the adaptability of the biped robot to the complex road surfaces is improved.
本发明涉及一种可适应复杂路面的双足机器人足部结构,整个足部结构通过模块化分解设计,在湿滑的平地行走时,该足部实时获取前后脚掌上的脚底传感器信息并通过电缸对虚约束结构的主动控制,减少前纵足弓脚掌关节的受力的同时,改善足部结构对地面压力的传递方向,使其尽可能保持在摩擦锥内,从而防止机器人打滑;在凹凸不平的路面行走时,电缸主动控制前脚掌的触地角度,辅以后脚掌的弹簧导杆,实现机器人足部对地面的主动、被动式自适应调整。本发明利用电缸作为主动控制的虚约束结构,结合后脚掌仿韧带的弹簧伸缩杆结构,实现了机器人足部对不同复杂路面的主动与被动自适应,提高双足机器人在复杂路面的适应能力。
Biped robot foot structure capable of adapting to complex road surfaces
一种可适应复杂路面的双足机器人足部结构
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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