CN103057620A - Foot structure of humanoid robot based on modularized array sensor - Google Patents
Foot structure of humanoid robot based on modularized array sensor Download PDFInfo
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Abstract
The invention relates to a foot structure of a humanoid robot based on a modularized array sensor. The foot structure comprises a foot plate, a rear foot sole fixed at the rear end of the foot plate, and a front foot sole connected with the foot plate through a foot sole connection piece and capable of rotating, wherein a sensor array comprising a plurality of sensors used for sensing ground counterforce information is arranged at the bottom of the foot plate; and a connection assembly used for being connected with robot legs is arranged on the foot plate. Therefore, the foot structure has the following advantages that the foot structure which is compact in structure, is provided with a ground self-adaption and energy absorption buffer device and can more accurately measure a zero moment point in the robot walking process is designed by a modularization method in an array arrangement way based on PVDF (polyvinylidene fluoride) piezoelectric film sensors; and the PVDF piezoelectric film sensors can be interchanged, so that a fault component can be dismounted and replaced when a fault occurs.
Description
Technical field
The present invention relates to a kind of humanoid robot foot section structure, especially relate to a kind of humanoid robot foot section structure based on the modular array sensor.
Background technology
Anthropomorphic robot has the shank walking function, more wheeled or caterpillar type robot has the performance advantage that hardly matches in the destructuring environment, can adapt to destructuring landform uneven, that obstacle is arranged, having a wide range of applications in fields such as medical treatment, service and amusements, is one of study hotspot of robot field.Compare the polypody walking mechanism, the apery biped robot has higher dexterity of action, and mobile blind area is little, and obstacle climbing ability is strong, and up/down steps reaches by unfairness or than the narrow lane face easily, can realize the high-leveled and difficult actions such as race, jumping and dancing, wushu.
Anthropomorphic robot is and the immediate a kind of robot of the mankind, double feet walking is one of its gordian technique, although obtained at present very large achievement in the anthropomorphic robot field, but with respect to mankind's walking, stability, alerting ability, the speed of travel and the independence etc. of gait remain a very large challenge in the process of walking how to improve it.Foot directly contacts with ground in the process of walking, directly is subject to the antagonistic force on ground, and therefore, it is significant to study the foot structure with perception.
Be the ability that realizes the gait control of anthropomorphic robot, require its foot to have complying with ground and can absorbing ground shock; Can perception the counter-force on ground in the walking process, or detect by other means the position of point of zero moment (ZMP).Therefore, in the design of the foot structure of anthropomorphic robot, should consider the ability to comformability and the impact-absorbing on ground, also will consider the factors such as type selecting, layout and installation, sensor signal conditioning and processing of sensor.
In recent years, for the research of humanoid robot foot section structure, comparatively great successes have also been obtained.The China special CN1524664A of invention discloses a ground reaction force measurement module that utilizes the film-type compression sensor that is used for the mobile robot; Chinese invention patent CN1966338A discloses a kind of with the human vola-emulated mechanism toes joint and that have force-sensing ability; Chinese invention patent CN 100593001C discloses a kind of humanoid robot foot section impact absorption mechanism, has realized the adjustable continuously of impact absorption mechanism flexibility; Chinese invention patent CN 101618549A discloses a kind of novel flexible foot system of human-imitated robot; Chinese invention patent CN 101823517A discloses a kind of flexible foot mechanism of anthropomorphic robot.Yet existing achievement in research also exists obvious limitation, as: cause foot structure more complicated, controllability not strong for taking into full account foot structure to the comformability on ground and the ability of impact-absorbing; Do not consider type selecting and the layout of sensor, cause foot to lack perception; Existing design adopts six-dimensional force/torque sensor to detect counter-force and the counter torque on ground usually, and then obtains the position of point of zero moment, the volume and weight of foot is increased, and price is high, so that its application is restricted.
Summary of the invention
The present invention solves the existing problem of prior art; A kind of compact conformation is provided, has had ground surface self-adaption and a kind of humanoid robot foot section structure based on modular array sensor energy-absorbing buffer device, that can comparatively accurately record robot gait processes point of zero moment.
Above-mentioned technical matters of the present invention is mainly solved by following technical proposals:
A kind of humanoid robot foot section structure based on the modular array sensor, it is characterized in that, comprise sole, be fixed on the hind paw of sole rear end, be connected the forefoot that also can rotate by the sole attaching parts with sole, described sole bottom is fixed with the sensor array that is comprised of for the sensor of perceiving ground counter-force information some, and described sole is provided with the coupling assembling that is connected for robot leg.
In above-mentioned a kind of humanoid robot foot section structure based on the modular array sensor, described sole attaching parts comprises a torsion spring and the adapter plate that is fixed on the torsion spring two ends, the adapter plate of one end is fixed together by the connecting panel that screw and forefoot are provided with, and the adapter plate of its other end is fixed together by screw and sole.
In above-mentioned a kind of humanoid robot foot section structure based on the modular array sensor, described connecting panel bottom is fixed with some sensors for perceiving ground counter-force information.
In above-mentioned a kind of humanoid robot foot section structure based on the modular array sensor, the joining place that is positioned at hind paw on the described sole is arranged with at least two and is used for absorbing the damping that heel impacts.
In above-mentioned a kind of humanoid robot foot section structure based on the modular array sensor, described hind paw and forefoot bottom are equipped with the rubber shock-absorbing layer.
In above-mentioned a kind of humanoid robot foot section structure based on the modular array sensor, described sensor for perceiving ground counter-force information adopts the PVDF piezoelectric film sensor that directly contacts with ground.
Therefore, the present invention has following advantage: based on the PVDF piezoelectric film sensor, adopt the arranged in arrays mode, designed compact conformation, had ground surface self-adaption and foot structure energy-absorbing buffer device, that can comparatively accurately record robot gait processes point of zero moment with modular method, each PVDF piezoelectric film sensor of the present invention can exchange, when et out of order, fault element can be pulled down and changed.
Description of drawings
Accompanying drawing 1 is a kind of perspective view of the present invention.
Accompanying drawing 2 is a kind of main TV structure scheme drawings of the present invention.
Accompanying drawing 3 is perspective view of a kind of sole attaching parts of the present invention.
Accompanying drawing 4 is another kind of perspective view of the present invention (not comprising damping).
Accompanying drawing 5 is perspective view of forefoot among the present invention.
The specific embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.Among the figure, sole 1, hind paw 2, forefoot 3, sensor 4, connecting panel 5, torsion spring 7, adapter plate 8, damping 9, rubber shock-absorbing layer 10.
Embodiment:
The present invention includes sole 1, be fixed on sole 1 rear end hind paw 2, be connected the forefoot 3 that also can rotate with sole 1 by the sole attaching parts, hind paw 2 and forefoot 3 bottoms are equipped with rubber shock-absorbing layer 10.Sole 1 bottom is fixed with the sensor array that is comprised of for the sensor 4 of perceiving ground counter-force information some, and described sole 1 is provided with the coupling assembling that is connected for robot leg.
Wherein, hind paw 2 is provided with a connecting panel 5, and above-mentioned sole attaching parts one end and connecting panel 5 are fixing, and the other end and sole 1 are fixing; The sole attaching parts comprises a torsion spring 7, and the adapter plate 8 that is fixed on torsion spring 7 two ends, and screw passes successively one of them adapter plate 8, connecting panel 5 both are fixed together; Screw passes another adapter plate 8 and sole 1 both is fixed together; Connecting panel 5 bottoms are fixed with some sensors 4 for perceiving ground counter-force information, and the sole attaching parts can strengthen the stationarity of robot starting when absorbing certain impact, reduce kneed propulsive effort, has increased step-length.
In addition, sole 1 on be positioned at hind paw 2 joining place be arranged with at least two and be used for absorbing the dampings 9 that heel impacts, can absorb the impact that comes from non-perpendicular sole direction, strengthen the road surface comformability of robot, damping 9 all adopts the damping of existing conventional art.
In the present embodiment, sensor 4 adopts the PVDF piezoelectric film sensor that directly contacts with ground, is designed to array format, is arranged in the vola.It is with respect to six-dimensional force/torque sensor, and cost is low, and domestic technique is ripe, can widespread use.In addition, the PVDF piezoelectric film sensor directly contacts with ground, has avoided the error of bringing because installation of sensors is higher; Obtain and ground contact state and contact position, judge and effective supporting zone on ground that real-time perception ground reaction force information is more conducive to adjust the machine walking, the better gait control that realizes based on point of zero moment.
Wherein piezoelectric film sensor is designed to array format, carry out the layout of sensor according to the actual needs of robot, considered the detection of point of zero moment according to practical application to the demand of sensor layout, satisfy in the Biped Robot Control detection needs to point of zero moment, each piezoelectric film sensor is designed to an independently sensor subunits, namely realized the modular design of sensor separate unit, be convenient to foot structure assembling in actual applications, simultaneously bringing great convenience with changing, keeping in repair for sensor subunits.
Below, by reference to the accompanying drawings, the software control employing program of the present invention of illustrating the automatically mode of operation that powers on.The first step, initialization register also disposes sampling frequency; Second step judges whether upper computer provides the instruction of reading ZMP; In the 3rd step, the data that provided by sensor calculate effective supporting zone; The 4th step, the ZMP of calculating place reality; The 5th step, judge actual ZMP whether in the actv. supporting zone, if level controlling system feedback ZMP data upwards, if not in effective supporting zone, then feeding back abnormal information is the runout information of actual ZMP and effective supporting zone, and system makes gait adjustment by upper control.
In Fig. 6, because the charge signal that piezoelectric film sensor converts is very faint, therefore need this charge signal process to be changed and be amplified to the required voltage signal, modulate circuit is as shown in Figure 6.C2, C4 and C1, C3 are respectively the chip power supply power filter and guarantee that the input power quality is higher, and R3 is respectively circuit with C6 and DC feedback is provided and exchanges feedback branch.
By after the charge/voltage conversion and amplifying circuit of Fig. 6, contain noise in the circuit, it is carried out filtering, filter circuit is as shown in Figure 7.C7, C8 and C9, C10 respectively the power supply filtering of chip guarantee that the input power quality is higher, and R8, C12 and chip form second order Butterworth active filter jointly, eliminate high-frequency interferencing signal to the impact of useful signal; C13, R8 consist of the military first high-pass filter that is situated between, can the establishment low-frequency interference signal on the impact of useful signal.
Specific embodiment described herein only is to the explanation for example of the present invention's spirit.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Although this paper has more used the terms such as sole 1, hind paw 2, forefoot 3, sensor 4, connecting panel 5, torsion spring 7, adapter plate 8, damping 9, rubber shock-absorbing layer 10, do not get rid of the possibility of using other term.Using these terms only is in order to describe more easily and explain essence of the present invention; They are construed to any additional restriction all is contrary with spirit of the present invention.
Claims (7)
1. humanoid robot foot section structure based on the modular array sensor, it is characterized in that: comprise sole (1), be fixed on the hind paw (2) of sole (1) rear end, be connected the forefoot (3) that also can rotate by the sole attaching parts with sole (1), described sole (1) bottom is fixed with the sensor array that is comprised of some sensors for perceiving ground counter-force information (4), and described sole (1) is provided with the coupling assembling that is connected for robot leg.
2. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 1, it is characterized in that: the adapter plate (8) that described sole attaching parts comprises a torsion spring (7) and is fixed on torsion spring (7) two ends, the adapter plate of one end (8) is fixed together by the connecting panel (5) that screw and forefoot (3) are provided with, and the adapter plate of its other end (8) is fixed together by screw and sole (1).
3. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 2, it is characterized in that: the connecting panel (5) that described forefoot (3) is provided with, its bottom is fixed with some sensors for perceiving ground counter-force information (4).
4. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 1 and 2 is characterized in that: the joining place that is positioned at hind paw (2) on the described sole (1) is arranged with at least two and is used for absorbing the dampings (9) that heel impacts.
5. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 1 and 2, it is characterized in that: described hind paw (2) and forefoot (3) bottom are equipped with rubber shock-absorbing layer (10).
6. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 1 and 2 is characterized in that: the PVDF piezoelectric film sensor that described sensor for perceiving ground counter-force information (4) employing directly contacts with ground.
7. a kind of humanoid robot foot section structure based on the modular array sensor according to claim 3 is characterized in that: the PVDF piezoelectric film sensor that described sensor for perceiving ground counter-force information (4) employing directly contacts with ground.
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN104890758A (en) * | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| CN105105897A (en) * | 2015-09-21 | 2015-12-02 | 武汉大学 | Foot device used for wearable lower limb exoskeleton robot |
| CN105620576A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Three-degree-of-freedom parallel damping humanoid mechanical foot |
| CN105644651A (en) * | 2016-02-19 | 2016-06-08 | 常州大学 | Four-degree-of-freedom parallel humanoid high-frequency mechanical foot |
| CN105690390A (en) * | 2016-04-10 | 2016-06-22 | 刘至键 | Sole bearing plate device of humanoid biped robot |
| CN105730548A (en) * | 2016-02-19 | 2016-07-06 | 常州大学 | Vibration-reduction series-connection four-degree-of-freedom humanoid mechanical foot |
| WO2017009795A1 (en) * | 2015-07-15 | 2017-01-19 | Fondazione Istituto Italiano Di Tecnologia | Foot for a robotic exoskeleton for assisted walking of persons suffering from locomotor disorders |
| WO2017068037A1 (en) | 2015-10-21 | 2017-04-27 | Fondazione Istituto Italiano Di Tecnologia | Humanoid robot foot comprising an active variable stiffness mechanism |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN109292021A (en) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | Bionical foot with variation rigidity toe heel joint |
| CN114115310A (en) * | 2021-11-19 | 2022-03-01 | 北京理工大学 | Four-foot robot motion control method and system |
| CN114506401A (en) * | 2022-04-20 | 2022-05-17 | 之江实验室 | Humanoid robot with variable length and vibration reduction foot thereof |
| CN115214818A (en) * | 2022-07-29 | 2022-10-21 | 哈尔滨工业大学 | Humanoid foot plate system with integral structure for biped robot |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
| CN104890758A (en) * | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| WO2017009795A1 (en) * | 2015-07-15 | 2017-01-19 | Fondazione Istituto Italiano Di Tecnologia | Foot for a robotic exoskeleton for assisted walking of persons suffering from locomotor disorders |
| US11160714B2 (en) | 2015-07-15 | 2021-11-02 | Fondazione Istituto Italiano Di Tecnologia | Foot for a robotic exoskeleton for assisted walking of persons suffering from locomotor disorders |
| CN105105897A (en) * | 2015-09-21 | 2015-12-02 | 武汉大学 | Foot device used for wearable lower limb exoskeleton robot |
| US10603803B2 (en) | 2015-10-21 | 2020-03-31 | Fondazione Istituto Italiano Di Tecnologia | Humanoid robot foot comprising an active variable stiffness mechanism |
| WO2017068037A1 (en) | 2015-10-21 | 2017-04-27 | Fondazione Istituto Italiano Di Tecnologia | Humanoid robot foot comprising an active variable stiffness mechanism |
| CN105644651A (en) * | 2016-02-19 | 2016-06-08 | 常州大学 | Four-degree-of-freedom parallel humanoid high-frequency mechanical foot |
| CN105730548A (en) * | 2016-02-19 | 2016-07-06 | 常州大学 | Vibration-reduction series-connection four-degree-of-freedom humanoid mechanical foot |
| CN105644651B (en) * | 2016-02-19 | 2017-12-05 | 常州大学 | Four-degree-of-freedom parallel connection apery high frequency machinery foot |
| CN105620576A (en) * | 2016-02-19 | 2016-06-01 | 常州大学 | Three-degree-of-freedom parallel damping humanoid mechanical foot |
| CN105690390A (en) * | 2016-04-10 | 2016-06-22 | 刘至键 | Sole bearing plate device of humanoid biped robot |
| CN107825430A (en) * | 2017-09-27 | 2018-03-23 | 深圳市行者机器人技术有限公司 | A kind of robot foot section structure and pressure detection method based on air pressure detection |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN109292021A (en) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | Bionical foot with variation rigidity toe heel joint |
| CN114115310A (en) * | 2021-11-19 | 2022-03-01 | 北京理工大学 | Four-foot robot motion control method and system |
| CN114115310B (en) * | 2021-11-19 | 2023-12-15 | 北京理工大学 | Motion control method and system for four-foot robot |
| CN114506401A (en) * | 2022-04-20 | 2022-05-17 | 之江实验室 | Humanoid robot with variable length and vibration reduction foot thereof |
| CN114506401B (en) * | 2022-04-20 | 2022-09-09 | 之江实验室 | Humanoid robot with variable length and vibration reduction foot thereof |
| CN115214818A (en) * | 2022-07-29 | 2022-10-21 | 哈尔滨工业大学 | Humanoid foot plate system with integral structure for biped robot |
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