CN104802876B - A kind of bionical foot of anthropomorphic robot - Google Patents

A kind of bionical foot of anthropomorphic robot Download PDF

Info

Publication number
CN104802876B
CN104802876B CN201510239337.2A CN201510239337A CN104802876B CN 104802876 B CN104802876 B CN 104802876B CN 201510239337 A CN201510239337 A CN 201510239337A CN 104802876 B CN104802876 B CN 104802876B
Authority
CN
China
Prior art keywords
foot
bionical
arch
plate
shaped springs
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201510239337.2A
Other languages
Chinese (zh)
Other versions
CN104802876A (en
Inventor
陈学超
黄强
韩连强
刘华欣
周宇航
张伟民
余张国
左久林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Technology BIT
Original Assignee
Beijing Institute of Technology BIT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Technology BIT filed Critical Beijing Institute of Technology BIT
Priority to CN201510239337.2A priority Critical patent/CN104802876B/en
Publication of CN104802876A publication Critical patent/CN104802876A/en
Application granted granted Critical
Publication of CN104802876B publication Critical patent/CN104802876B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention provides a kind of bionical foot of anthropomorphic robot, it includes sole pedestal, bionical arch of foot, Slippery proof foot pad, movable sole;The bionical arch of foot is domes, imitate human body arch of foot, staggered successively by multiple plate-shaped springs blocks including four and be stacked the imitative arch of foot plate-shaped springs stack module for being formed, cushioning effect can be played in robot ambulation, stair climbing, largely reduce the impulsive force on ground.The movable sole is pivotally connected by rotating shaft with the sole pedestal, make movable sole close proximity to ground so as to form passive joint, when walking with spring applying pretightning force in both is had one degree of freedom, and the rotating shaft, increase the flexibility of foot, improve foot movement attitude during walking.

Description

A kind of bionical foot of anthropomorphic robot
Technical field
The present invention relates to a kind of anthropomorphic robot, and in particular to a kind of bionical foot of anthropomorphic robot.
Background technology
Anthropomorphic robot is a kind of robot immediate with the mankind, with traditional wheeled robot or caterpillar robot phase Than, anthropomorphic robot is suitable for mankind's everyday environments, while the various instruments for using man invented to design of being more convenient for, because This, anthropomorphic robot has vast potential for future development.
The greatest difficulty that can be run into during Humanoid Robot Based on Walking is exactly stability and balance, and ground is in face of robot Impact may result in the damage of parts and sensor with robot, and at the same time impulsive force may cause wink to robot When it is unstable, cause its stability destroy so as to fall down.This point can be resolved by ZMP theories.In walking process Larger impulsive force and the collision to ground can be also produced, this is accomplished by foot structure and can reduce impact playing buffer protection.With This further encounters the problem for sliding into simultaneously, during Humanoid Robot Based on Walking, and it is less steady that ground skidding will greatly suppress robot Qualitative and flexibility, it then becomes necessary to set enough non-skid features in robot foot section, can just allow the robot to hold ground Face.
Bionical foot is applied on anthropomorphic robot, is apery machine as the structure on anthropomorphic robot directly contact ground People's load capacity and support, the important component of walking.Anthropomorphic robot is during ground running, it is necessary to which the moment perceives Surface state simultaneously changes its own shape according to feedback so as to obtain stabilized walking in real time.The attitude of foot and position can reflect machine The support situation of state and ground during the walking of device people, therefore it is apery to obtain foot position and attitude and vola contact position Robot ambulation and the necessary condition of motion.
Patent 200810224557.8 devises a kind of humanoid robot foot section absorption plant.The patent is by by shock structure Installed in sole, realize to the flexible continuously adjustabe of humanoid robot foot section impact absorption mechanism.
Patent 200710131102.7 devises a kind of foot of anthropomorphic robot by six-dimension force sensor and signal transacting system Reaction force when unified test foot-measuring is contacted with road surface, the surface conditions of tactile array detection contact information computer device people's walking, carries Gait stability and naturality when anthropomorphic robot high is walked.
But, the foot of existing anthropomorphic robot is few to use bionics principle, seldom using human body arch of foot Bionic Design, thus when biped robot walks, buffered by the rubber peel of sole, can still produce larger impulsive force.
The content of the invention
It is an object of the invention to provide a kind of bionical foot, it can make more to smooth in the motion process of robot steady It is fixed, impacted by less.
The technical scheme is that, a kind of bionical foot is devised, it includes sole pedestal, bionical arch of foot, Slippery proof foot pad; It is characterized in that:The bionical arch of foot is domes.
According to above-mentioned bionical foot, the bionical foot also has movable sole.
According to above-mentioned any bionical foot, the movable sole is forefoot, and it passes through rotating shaft with the sole pedestal pivot Turn connection.
According to above-mentioned any bionical foot, wherein applying pretightning force so as to form passive joint with spring in the rotating shaft.
According to above-mentioned any bionical foot, when the sole pedestal leaves ground along axis of rotation, the passive joint Spring-compressed is stored energy, increase moment of torsion;When the sole pedestal returns to ground, the spring-relaxation reduces moment of torsion.
According to above-mentioned any bionical foot, the sole pedestal is hind paw, and it is made up of one piece of aluminium alloy plate.
According to above-mentioned any bionical foot, the bionical arch of foot includes four imitative arch of foot plate-shaped springs stack modules.
According to above-mentioned any bionical foot, the imitative arch of foot plate-shaped springs stack module is wrong successively by multiple plate-shaped springs blocks Open stacked formation.
According to above-mentioned any bionical foot, each plate-shaped springs block is stacked by multi-disc plate-shaped springs piece and constituted.
According to above-mentioned any bionical foot, the imitative arch of foot plate-shaped springs stack module is wrong successively by four plate-shaped springs blocks Open stacked formation.
According to above-mentioned any bionical foot, each plate-shaped springs block is stacked by 5 tabular spring leafs and constituted.
According to above-mentioned any bionical foot, the size of the plate-shaped springs piece is 30mm*20mm*1mm.
According to above-mentioned any bionical foot, the spacing for staggering is 5mm.
According to above-mentioned any bionical foot, the Slippery proof foot pad is anti-skidding rubber.
According to above-mentioned any bionical foot, the bionical foot also has apery robot ankle, six-dimension force sensor, 6 DOF Force snesor fixed plate.
According to above-mentioned any bionical foot, the apery robot ankle, six-dimension force sensor, six-dimension force sensor are fixed Plate is connected by screw.
According to above-mentioned any bionical foot, the bionical arch of foot be arranged at six-dimension force sensor fixed plate and hind paw it Between, respectively at four positions at angle of six-dimension force sensor fixed plate 3, and by being adhesively fixed.
According to above-mentioned any bionical foot, the forefoot is 1 with the length ratio of hind paw:2.
According to above-mentioned any bionical foot, the height of the bionical arch of foot is whole with what is be made up of the forefoot and hind paw The ratio of the length in individual vola is 1:10.
According to above-mentioned any bionical foot, the height of the rotating shaft is highly consistent with six-dimension force sensor fixed plate.
Therefore, the present invention, from bionic principle, imitates human body arch of foot using the bionical foot of bionics principle design, leads to The imitative foot arc structure of arch crossed plate-shaped springs block stacking and have, can store bigger energy and can to a greater extent reduce impact Power, so that the stability that robot vola supports when strengthening upright.Also, this it is bionical can be with robot ambulation, stair climbing When play cushioning effect, more reduce impulsive force of the ground in face of robot so that robot more puts down in motion process Sliding stabilization, is impacted by less.Additionally, the separate design for passing through forward and backward sole, increases the bionical sufficient free degree, make it With greater flexibility.
Brief description of the drawings
Fig. 1 is structural representation of the invention
Fig. 2 is the side view in Fig. 1
Fig. 3 is to form plate-shaped springs block again to the schematic diagram for forming imitative arch of foot plate-shaped springs stack module by plate-shaped springs piece
Reference:1. apery robot ankle;2. six-dimension force sensor;3. six-dimension force sensor fixed plate;4. arch Bionical arch of foot;5. hind paw;6. forefoot;7. the anti-skidding rubber of hind paw;8. the anti-skidding rubber of forefoot.
Specific embodiment
The bionical foot of anthropomorphic robot includes:Sole pedestal, bionical arch of foot 4, movable sole, Slippery proof foot pad, apery machine People's ankle 1, six-dimension force sensor 2, six-dimension force sensor fixed plate 3.
The sole pedestal is hind paw 5, is whole bionical sufficient basis, with existing anthropomorphic robot sole size phase Together, it is made up of one piece of aluminium alloy plate.Structure as shown in Figure 1 is successively from top to bottom apery robot ankle 1, six-dimension force sensor 2nd, the bionical arch of foot 4 of six-dimension force sensor fixed plate 3, arch, bionical sufficient hind paw 5, the anti-skidding rubber of forefoot 6, hind paw 8th, the anti-skidding rubber 7 of forefoot.
The apery robot ankle 1, six-dimension force sensor 2, six-dimension force sensor fixed plate 3 are connected by screw.It is described Bionical arch of foot 4 is arranged between six-dimension force sensor fixed plate 3 and hind paw 5, respectively positioned at six-dimension force sensor fixed plate 3 At four positions at angle, and by being adhesively fixed.
The movable sole is pivotally connected by rotating shaft with the hind paw 5, both is had one degree of freedom.
Apply pretightning force so as to form passive joint with spring in wherein described rotating shaft, movable sole is closely during walking Face, when the hind paw 5 leaves ground along axis of rotation, the passive joint makes spring-compressed store energy, increases moment of torsion; When sole 5 returns to ground in the rear, the spring-relaxation reduces moment of torsion, increases the flexibility of foot, improves foot during walking Portion's athletic posture.
The bionical arch of foot 4 of arch includes four imitative arch of foot plate-shaped springs stack modules.The imitative arch of foot plate-shaped springs stacking Module by plate-shaped springs block stacking form, simulation people's arch of foot the characteristics of, constitute meniscus shaped;It is preferred that by multiple plate-shaped springs blocks successively Stagger to be stacked and formed, more preferably staggering to be stacked successively by four plate-shaped springs blocks forms.Plate-shaped springs block has good deformation And elastic force, can alleviate as humanoid robot foot section buffer portion and be closed in face of apery robot ankle 1 and the above when walking The impact of section.
Each plate-shaped springs block is stacked by multi-disc plate-shaped springs piece and constituted, and is preferably stacked in one by 5 tabular spring leafs Rise and constitute.
The size of the plate-shaped springs piece is 30mm*20mm*1mm.The plate-shaped springs block staggers successively, and 5mm is stacked to be formed The imitative arch of foot plate-shaped springs stack module.
The anti-skidding rubber 8,7, for bionical foot provides frictional force, prevents machine respectively with forward and backward sole using being adhesively fixed Skidded in device people's walking process.
According to bionics human body arch of foot ratio, the forefoot 6 is L1 with the length ratio of hind paw 5:L2=1:2.
The ratio of the length in the height of the bionical arch of foot 4 and the whole vola being made up of the forefoot 6 and hind paw 5 It is h:L=1:10.
The height of the rotating shaft is highly consistent with six-dimension force sensor fixed plate 3.
Embodiment described above, simply one kind of the present invention more preferably specific embodiment, those skilled in the art The usual variations and alternatives that member is carried out in the range of technical solution of the present invention all should be comprising within the scope of the present invention.

Claims (7)

1. the bionical foot of a kind of anthropomorphic robot, it includes sole pedestal, bionical arch of foot, Slippery proof foot pad;It is characterized in that:It is described Bionical arch of foot is domes;The bionical arch of foot includes four imitative arch of foot plate-shaped springs stack modules, the imitative arch of foot tabular Spring stack module by plate-shaped springs block stacking form, simulation people's arch of foot the characteristics of, constitute meniscus shaped;
The imitative arch of foot plate-shaped springs stack module is staggered to be stacked and is formed successively by multiple plate-shaped springs blocks;Each plate-shaped springs block Stacked by multi-disc plate-shaped springs piece and constituted.
2. bionical foot according to claim 1, it is characterised in that:The bionical foot also has forefoot, and it passes through rotating shaft It is pivotally connected with the sole pedestal.
3. bionical foot according to claim 2, it is characterised in that:In wherein described rotating shaft with spring apply pretightning force so as to Form passive joint;When the sole pedestal leaves ground along axis of rotation, the passive joint makes spring-compressed store energy Amount, increases moment of torsion;When the sole pedestal returns to ground, the spring-relaxation reduces moment of torsion.
4. bionical foot according to claim 1, it is characterised in that:The imitative arch of foot plate-shaped springs stack module is by four plates Shape spring block staggers to be stacked successively and is formed;Each plate-shaped springs block is stacked by 5 tabular spring leafs and constituted;The tabular bullet The size of reed is 30mm*20mm*1mm;The spacing for staggering is 5mm.
5. the bionical foot according to Claims 2 or 3, it is characterised in that:The bionical foot also have apery robot ankle, Six-dimension force sensor, six-dimension force sensor fixed plate;Bionical arch of foot be arranged at six-dimension force sensor fixed plate and sole pedestal it Between, respectively at four positions at angle of six-dimension force sensor fixed plate, and by being adhesively fixed.
6. the bionical foot according to Claims 2 or 3, it is characterised in that:The forefoot is with the length ratio of sole pedestal 1:2.
7. bionical foot according to claim 5, it is characterised in that:The height of the bionical arch of foot with by the forefoot with The ratio of the length in the whole vola that sole pedestal is constituted is 1:10;The height of rotating shaft and the height of six-dimension force sensor fixed plate Unanimously.
CN201510239337.2A 2015-05-12 2015-05-12 A kind of bionical foot of anthropomorphic robot Active CN104802876B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510239337.2A CN104802876B (en) 2015-05-12 2015-05-12 A kind of bionical foot of anthropomorphic robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510239337.2A CN104802876B (en) 2015-05-12 2015-05-12 A kind of bionical foot of anthropomorphic robot

Publications (2)

Publication Number Publication Date
CN104802876A CN104802876A (en) 2015-07-29
CN104802876B true CN104802876B (en) 2017-06-27

Family

ID=53688195

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510239337.2A Active CN104802876B (en) 2015-05-12 2015-05-12 A kind of bionical foot of anthropomorphic robot

Country Status (1)

Country Link
CN (1) CN104802876B (en)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105523098A (en) * 2015-12-24 2016-04-27 哈尔滨工业大学 Humanoid robot foot structure with adjustable rigidity
CN105620576A (en) * 2016-02-19 2016-06-01 常州大学 Three-degree-of-freedom parallel damping humanoid mechanical foot
CN105620577B (en) * 2016-02-19 2018-03-06 常州大学 Series-parallel connection shock resistance apery Three Degree Of Freedom machinery foot
CN106073032B (en) * 2016-06-01 2019-04-23 江南大学 A kind of sole abrasive resistance test device and its application
CN106428287B (en) * 2016-10-28 2018-09-21 河海大学常州校区 The flexible legged robot foot structure of the toe containing double-lumen air sac
WO2019041077A1 (en) * 2017-08-27 2019-03-07 刘哲 Intelligent robot
CN108773428B (en) * 2018-06-21 2019-10-01 吉林大学 A kind of bionical ground-grabbing antiskid foot
CN109292021B (en) * 2018-10-09 2020-06-23 北京理工大学 Bionic foot with variable-rigidity toe and heel joints
CN109394231A (en) * 2018-12-10 2019-03-01 刘坤 One kind stand moving equilibrium monitoring with dynamic analysis system
CN111634344A (en) * 2020-04-20 2020-09-08 南京航空航天大学 Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3649865B2 (en) * 1997-07-23 2005-05-18 本田技研工業株式会社 Leg structure of legged mobile robot
KR100571829B1 (en) * 2004-02-06 2006-04-17 삼성전자주식회사 Structure, foot structure and robot employing the same
CN101428657B (en) * 2008-12-16 2011-02-02 吉林大学 Propel mechanism of underactuated biped walk robot
CN102730095B (en) * 2012-06-18 2014-03-05 杭州电子科技大学 Flexibly landed foot mechanism of humanoid robot

Also Published As

Publication number Publication date
CN104802876A (en) 2015-07-29

Similar Documents

Publication Publication Date Title
US20200001450A1 (en) Energy Recovering Legged Robotic Device
CN103330635B (en) Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying
US9488987B2 (en) Controlling roll and pitch of a single-track legged vehicle
US9440357B2 (en) System for stabilization control of mobile robotics
Raibert Legged robots
Kuo Choosing your steps carefully
Pratt et al. Exploiting natural dynamics in the control of a 3d bipedal walking simulation
Niiyama et al. Mowgli: A bipedal jumping and landing robot with an artificial musculoskeletal system
CN203020441U (en) Quasi-man robot foot
US7013201B2 (en) Legged mobile robot and method of controlling operation of the same
US7650203B2 (en) Foot structure for humanoid robot and robot with the same
EP1340478B1 (en) Parallel linkage and artificial joint device using the same
JP4513320B2 (en) Robot apparatus and motion control method of robot apparatus
Ferris et al. Runners adjust leg stiffness for their first step on a new running surface
CN101934525B (en) Variable-rigidity flexible joint design of humanoid robot
Alexander Walking and running: Legs and leg movements are subtly adapted to minimize the energy costs of locomotion
Asano et al. Biped gait generation and control based on a unified property of passive dynamic walking
JP4155993B2 (en) Control device for legged mobile robot
Tlalolini et al. Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion
US9004213B2 (en) Electric motorized skateboard with an actuator assembly with a footpad and force sensor
EP1649983B1 (en) Gait generation device for legged mobile robot
JP3672101B2 (en) Gait generator for legged mobile robot
JP3615702B2 (en) Motion control device and motion control method for legged mobile robot, and legged mobile robot
Niiyama et al. Athlete robot with applied human muscle activation patterns for bipedal running
JP2015214019A5 (en)

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
EXSB Decision made by sipo to initiate substantive examination
CB03 Change of inventor or designer information

Inventor after: Chen Xuechao

Inventor after: Huang Qiang

Inventor after: Han Lianqiang

Inventor after: Liu Huaxin

Inventor after: Zhou Yuhang

Inventor after: Zhang Weimin

Inventor after: Yu Zhangguo

Inventor after: Zuo Jiulin

Inventor before: Chen Xuechao

Inventor before: Huang Qiang

Inventor before: Liu Huaxin

Inventor before: Zhou Yuhang

Inventor before: Zhang Weimin

Inventor before: Yu Zhangguo

Inventor before: Zuo Jiulin

GR01 Patent grant
GR01 Patent grant