CN105292297B - Bionic foot capable of improving gait naturality and stability of biped robot - Google Patents
Bionic foot capable of improving gait naturality and stability of biped robot Download PDFInfo
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- CN105292297B CN105292297B CN201510813485.0A CN201510813485A CN105292297B CN 105292297 B CN105292297 B CN 105292297B CN 201510813485 A CN201510813485 A CN 201510813485A CN 105292297 B CN105292297 B CN 105292297B
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Abstract
The invention discloses a bionic foot capable of improving the gait naturality and stability of a biped robot. The bionic foot comprises a bionic foot body and a bionic ankle. The bionic foot body comprises bionic arches, extension springs, a compression spring, a viscoelastic material layer and rubber non-slip mats. Part of impact borne by the bionic foot can be consumed by the viscoelastic material layer, and the rest of the impact is absorbed by the elastic deformation of the bionic arches, the extension springs and the compression spring. Due to the fact that the rubber non-slip mats are adopted, the non-slip performance of the bionic foot can be improved. The bionic ankle comprises a first ankle joint connecting piece, a first ankle joint platform, a second ankle joint connecting piece and a second ankle joint platform. The bionic ankle can do inward turnover and outward turnover movement through the rotation of the first ankle joint platform around a third pin shaft, and can do back bending and toe bending movement through the rotation of the second ankle joint platform around a fourth pin shaft. By means of the bionic foot, the harmful effect caused by the impact can be effectively reduced, meanwhile, the walking mode of human beings can be imitated, and the gait of the robot can be more natural.
Description
Technical field
The present invention relates to a kind of bionical foot of biped robot, and in particular to one kind improve the naturality of biped robot's gait with
The bionical foot of stability.
Background technology
With science and technology progress, bionical walking robot obtain fast development and society multiple fields it is wide
General application, such as agricultural, military affairs, space exploration, field scientific investigation, rescue and relief work.By walking leg number, walking robot can be divided
Even more many for monopodia, biped, tripodia, four-footed, six foots, eight foots, wherein even number accounts for the overwhelming majority.And bipod walking robot phase
Than other types, its walking manner is close with the mankind, with the walking of unstructuredness complex road surface, locomotivity is good, environment is adapted to
Property the distinguishing feature such as strong, therefore, obtained worldwide very big concern.However, the foot of current biped robot is several
Stiff Block global design is, the characteristics of this design has simple structure.But, due to robot foot section integral rigidity
Limit each continuous gait feature (initial heel strike, the foot for causing biped robot to realize similar people in the process of walking
Portion keeps flat, heel lift, tiptoe is liftoff), therefore its walking generally existing gait stiff, factitious feature, this is in certain journey
Biped robot's walking efficiency is also reduced on degree；Simultaneously as integral rigidity design, the foot of existing biped robot cannot
The buffering accumulated energy effect of similar human body arch of foot is played, therefore the impact on ground can not be effectively absorbed or alleviated in impact of contacting to earth and made
With intensity, walking stability is significantly reduced, increased control difficulty；At present, researcher is taken in biped walking machine mostly
Elastic damping element or vola is added to add the mode of elastomeric layer in the leg mechanism of people, to alleviate ground to a certain extent
Contacting the impact on body affects, but effect is undesirable.
The position that human foot is uniquely had an effect during walking movement as human body with ground, plays important work
With.In human body walking gait cycle, during heel contact, because the suddenly change of dynamic factors causes foot instantaneously to bear several times
In the impulsive force of body weight；In foot supports mid-term, used as the sole site contacted with ground supports, foot needs to adjust
Interaction with ground contact condition and between ground is stablizing human motion.Therefore, human foot is in order to alleviating, absorb
Ground shock is acted on, and itself needs to have flexibility and adaptability.And foot need extremely efficiently by ground force to
Human body lower limbs are transmitted, and it has to possess enough rigidity；In order to keep kinetic stability, foot need to play similar to
The effect of damping system with adjust the contact between ground with effect.These functions of human foot represent and its foot arch of foot
(medial arch, outside arch of foot), plantars aponeurosis and soft tissues of soles have close contact.The medial longitudinal arch of human foot, compared with
Height, is made up of calcaneus, astragalus, nut bone, 3 cubitales and the 1st～3 metatarsal.Medial longitudinal arch front fulcrum is the 1st～3 head of metatarsal bone, is propped up afterwards
Point is calcaneus, and overall curvature is larger, and elasticity is relatively strong, and buffering concussion effect is more significant, therefore is also referred to as elastic arch of foot；And outer parapodum
Bow it is relatively low, be made up of calcaneus, cuboid and the 4th, 5 metatarsals, calcaneus constitute rear fulcrum, the 4th, 5 head of metatarsal bone constitute front fulcrum.Outside is vertical
Bow is jumped in motion in human body walking, race, before medial longitudinal arch bears trunk gravity, lateral longitudinal arch load first.Plantars aponeurosis
" bowstring " in equivalent to arch system, when arch of foot stress declines, forms tension force so that plantars aponeurosis between arch of foot front and rear fulcrum
It is stretched effect, and then energy storage.It is overall that viscoelastic spy is presented and soft tissues of soles mainly includes fibrous reticular structure and fat
Property, dissipation impulsive force can be played, weaken the effect of impact strength.And the foot design of current biped robot still lacks phase
Close and consider.
The present Research of current two leg walking robot's foot and the functional structure feature of human foot are taken a broad view of, is badly in need of a kind of
The bionical foot that can lift biped robot's walking step state stability and naturality based on human foot architectural feature.
The content of the invention
The invention aims to solve the problems, such as that existing biped robot's walking step state is unnatural, stability is poor, and
A kind of bionical foot of the raising biped robot's gait naturality and stability that can overcome disadvantages mentioned above is provided.
The present invention includes bionical sufficient body, bionical ankle.Described bionical sufficient body is imitated comprising the bionical arch of foot in outside, inner side
Raw arch of foot, digit members, heel component.Second bionical arch of foot connector is by two the 3rd symmetrical screws and heel structure
Part is connected.First bionical arch of foot connector is connected by two the 5th symmetrical screws and the second bionical arch of foot connector.
The bionical arch of foot in outside, the bionical arch of foot in inner side are connected respectively by the first screw and the first bionical arch of foot connector.Outside arch of foot
Bearing member, medial arch supporting member are connected respectively by the bionical arch of foot of the second screw and outside, the bionical arch of foot in inner side.Digit members point
It is not hinged with outside arch support part, medial arch supporting member by the first bearing pin.Roller is by the second bearing pin and compression spring
Push rod is hinged.Meanwhile, compression spring push rod respectively with compression spring supporting member and outside arch support part, compression spring supporting member
Constitute with medial arch supporting member and be slidably connected.Compression spring push rod can prolong and slide axially.Adjusting nut is pushed away with compression spring
Connected mode between bar is threaded connection.By the change of compression spring supporting member and adjusting nut relative distance, can adjust
The compressive state of section compression spring.Here, compression spring supporting member respectively by two pairs of the 4th screws and outside arch support part,
Medial arch supporting member is connected.Bend supporting member, between medial arch supporting member and heel component, be threaded connection in outer parapodum
Mode, symmetrical two pairs of extension spring suspension members, the first extension spring used in pairs by extension spring suspension member, and first draws
Stretch spring and be in extended state after mounting.Toe viscoelastic material layer, outside arch of foot viscoelastic material layer, medial arch viscoelastic material
The bed of material, heel viscoelastic material layer are bonding with digit members, outside arch support part, medial arch supporting member, heel component respectively.
Meanwhile, toe rubber antiskid pad, heel rubber antiskid pad are bonding with toe viscoelastic material layer, heel viscoelastic material layer respectively,
Arch of foot rubber antiskid pad is bonding with outside arch of foot viscoelastic material layer, medial arch viscoelastic material layer respectively.
Described bionical ankle, comprising the connector of ankle joint first, the platform of ankle joint first, the connector of ankle joint second,
The platform of ankle joint second.The connector of ankle joint first is connected in the middle part of heel component by the first nut.Ankle joint first is flat
Platform is by the 3rd hinge on the connector of ankle joint first.The connector of ankle joint second is threaded connection and is connected in ankle pass
The middle part of the first platform is saved, meanwhile, the connector of ankle joint second is by the second hinge that is connected in the middle part of the platform of ankle joint second
Bearing is formed with the platform of ankle joint second and is hinged.Two piston-type hydraulic cylinders respectively be symmetrically distributed on the platform of ankle joint first
First axle bearing be hinged, while pistons end be connected in third hinge bearing symmetrical on the platform of ankle joint second
Formation is hinged, and two piston-type hydraulic cylinder epicoeles are connected respectively with epicoele, cavity of resorption and cavity of resorption with flexible rubber hydraulic tube, whole liquid
Pressure system fills hydraulic oil.Wherein, the first axle bearing being arranged symmetrically is connected in ankle by two pairs of the first bolts, the second nut
On the platform of joint first.Use in pairs and the second symmetrical extension spring, the 3rd extension spring, be respectively acting on ankle pass
Save between the first platform and heel component, the platform of ankle joint second and the platform of ankle joint first, when mounted in extended state.
Working process and principle of the invention：
During robot advances, contact to earth active phase in each foot, bionical foot constantly repeats that " initial heel is touched
Ground, foot keep flat, heel lift, tiptoe is liftoff " the step of.First, heel rubber antiskid cushions ground, heel viscoelastic material layer
Viscoelasticity plays cushioning effect with the elastic deformation of the U-shaped structure of heel component.Following arch of foot rubber antiskid pad and foot
Toe rubber antiskid pad lands, because the thickness of outside arch of foot viscoelastic material layer is less than medial arch viscoelastic material layer.So that with
The compression of arch of foot viscoelastic material layer, the bionical arch of foot in the less outside of rigidity produces first elastic deformation, with outside arch support
The rising of part height, medial arch supporting member also begins to be subject to larger active force, produces displacement upwards, the bionical arch of foot in inner side
Start to produce elastic deformation, now the bionical arch of foot in interior outside plays cushioning effect simultaneously.The bionical arch of foot in the less outside of rigidity is matched somebody with somebody
The larger bionical arch of foot in inner side of conjunction rigidity is complete to be used, and makes the interval change of stiffness variable of whole bionical arch of foot big, can be preferably
Complete the effective absorption to different impacts.While bionical arch of foot deforms, toe viscoelastic material layer, the first extension spring, pressure
Contracting spring produces certain deformation, and assists bionical arch of foot to absorb impact.Finally, the step of bionical sufficient convergence " tiptoe is liftoff ",
Now, digit members are rotated around the first bearing pin, and pushing rolling wheels carry out axially-movable along compression spring push rod.Eventually through with roller
The compression spring push rod being hinged is stored energy among compression spring, when tiptoe is liftoff, among being stored in compression spring
Elastic potential energy is converted into the kinetic energy that digit members are rotated around the first bearing pin again, it is achieved thereby that the elasticity of bionical foot motion is opened
It is dynamic.
For the motion of ankle joint, rotation that can be by the platform of ankle joint first around the 3rd bearing pin is realized varus, is turned up
Action, realizes that the back of the body is bent, toe is in the wrong and moves by the platform of ankle joint second around the rotation of the 4th bearing pin.Two motions are non-interference, can
To realize aggregate motion, and the reset moved is realized by the second symmetrical extension spring, the 3rd extension spring.This
In, the motion amplitude that back of the body song, toe bend motion is larger, in order to prevent the 3rd extension spring from producing the phenomenon of quick resilience, improves row
Stability is walked, adds paired piston-type hydraulic cylinder used in parallel with the 3rd extension spring, by the flexibility for selecting seemly diameter
Rubber hydraulic tube, when back of the body song, toe bend motion, generation is suitable damps, and makes motion more steady.
Beneficial effects of the present invention：
1st, the present invention has carried out inner side, the bionical arch of foot design in outside, and the elastic deformation that can increase overall arch of foot is interval, from
And the adverse consequencess that different impacts bring effectively are reduced, improve the stability of walking.
2nd, the present invention has carried out the Bionic Design of mankind's toe, and " initial heel strike, foot keep flat, heel to imitate the mankind
Lift, tiptoe is liftoff " walking manner, make robot gait more natural.
3rd, the present invention has carried out the Bionic Design of mankind's soft tissues of soles, using 3 points of rock-steady structures for contacting to earth, while
Vola adds viscoelastic material layer, is more beneficial for absorbing impact.
4th, ankle portion of the invention adds hydraulic damping system when dorsiflex is controlled and toe bends this motion, can be with
Make dorsiflex and toe bend motion more to smooth, improve the stationarity of motion.
Description of the drawings
Fig. 1 is the schematic perspective view of the present invention.
Fig. 2 is the outside toe mechanism front view of the present invention.
Fig. 3 is the outside toe mechanism top view of the present invention.
Fig. 4 is the inner side toe mechanism front view of the present invention.
Fig. 5 is the inner side toe mechanism top view of the present invention.
The ankle part right view of Fig. 6 present invention.
Fig. 7 is the ankle fragmentary front view of the present invention.
Wherein：The bionical arch of foot connectors of 1- first；The screws of 2- first；Bionical arch of foot on the outside of 3-；The bionical arch of foot in 4- inner sides；5-
Second screw；6- digit members；7- heel rubber antiskid pads；8- heel viscoelastic material layers；9- extension spring suspension members；10- first
Extension spring；11- heel components；The nuts of 12- first；The bionical arch of foot connectors of 13- second；The screws of 14- the 3rd；15- second draws
Stretch spring；16- flexible rubber hydraulic tubes；The connector of 17- ankle joint first；18- piston-type hydraulic cylinders；19- first axle bearings；
The platform of 20- ankle joint first；The extension springs of 21- the 3rd；The platform of 22- ankle joint second；The bearing pins of 23- first；24- toe viscoelastic materials
The bed of material；25- toe rubber antiskid pads；Arch of foot viscoelastic material layer on the outside of 26-；27- arch of foot rubber antiskid pads；The outer parapodums of 28-
Bow supporting member；29- compression spring supporting members；The screws of 30- the 4th；31- compression spring push rods；32- compression springs；33- adjusts spiral shell
It is female；The bearing pins of 34- second；35- rollers；36- medial arch viscoelastic material layers；37- medial arch supporting members；The bearing pin 39- of 38- the 3rd
First bolt；The screws of 40- the 5th；The nuts of 41- second；The bearing pins of 42- the 4th；The connector of 43- ankle joint second；44- second hinges
Bearing；45- third hinge bearings.
Specific embodiment
Refer to shown in Fig. 1, Fig. 2 Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the present embodiment includes bionical sufficient body and bionical
Ankle；
Described bionical sufficient body includes the bionical arch of foot 4 of the bionical arch of foot 3, inner side in outside, digit members 6 and heel component
11, the second bionical arch of foot connector 13 is connected by two the 3rd symmetrical screws 14 with heel component 11；First is bionical
Arch of foot connector 1 is connected by two symmetrical the 5th screws 40 and the second bionical arch of foot connector 13；The bionical foot in outside
Bow 3, the bionical arch of foot 4 in inner side is connected respectively by the first screw 2 and the first bionical arch of foot connector 1；Outside arch support part 28,
Medial arch supporting member 37 is connected respectively by the second screw 5 and the bionical arch of foot 4 of the bionical arch of foot 3, inner side in outside；Digit members 6
It is hinged with outside arch support part 28, medial arch supporting member 37 by the first bearing pin 23 respectively.Roller 35 passes through the second bearing pin
34 are hinged with compression spring push rod 31.Meanwhile, compression spring push rod 31 is propped up respectively with compression spring supporting member 29 and outside arch of foot
Bearing member 28, compression spring supporting member 29 are constituted with medial arch supporting member 37 and are slidably connected.Compression spring push rod 31 can prolong axle
To slip；Connected mode between adjusting nut 33 and compression spring push rod 31 is to be threadedly coupled.By compression spring supporting member
29 with the change of the relative distance of adjusting nut 33, the compressive state of compression spring 32 can be adjusted；29 points of compression spring supporting member
Not Tong Guo two pairs of the 4th screws 30 be connected with outside arch support part 28, medial arch supporting member 37.Bend supporting member in outer parapodum
28th, between medial arch supporting member 37 and heel component 11, the mode being threaded connection, symmetrical two pairs of extension springs
Suspension member 9, the first extension spring 10 is used in pairs by extension spring suspension member 9, and the first extension spring 10 is after mounting in drawing
Stretch state；Toe viscoelastic material layer 24, outside arch of foot viscoelastic material layer 26, medial arch viscoelastic material layer 36, heel viscoelastic material
The bed of material 8 is bonding with digit members 6, outside arch support part 28, medial arch supporting member 37, heel component 11 respectively.Meanwhile, foot
Toe rubber antiskid pad 25, heel rubber antiskid pad 7 are bonding with toe viscoelastic material layer 24, heel viscoelastic material layer 8 respectively, foot
Bow rubber antiskid pad 27 is bonding with outside arch of foot viscoelastic material layer 26, medial arch viscoelastic material layer 36 respectively.
During robot advances, bionical foot constantly repeats that " initial heel strike, foot keep flat, heel lift, foot
Point is liftoff " the step of.First, heel rubber antiskid pad 7 lands, the viscoelasticity of heel viscoelastic material layer 8 and the U of heel component 11
The elastic deformation of shape structure can all play cushioning effect.Following arch of foot rubber antiskid pad 27 and toe rubber antiskid pad 25
Land, because the thickness of outside arch of foot viscoelastic material layer 26 is less than medial arch viscoelastic material layer 36.So that with arch of foot viscoelastic material
The compression of the bed of material, the bionical arch of foot 3 in the less outside of rigidity produces first elastic deformation, with the height of outside arch support part 28
Rise, medial arch supporting member 37 also begins to be subject to larger active force, produces displacement upwards, and the bionical arch of foot 4 in inner side starts
Elastic deformation is produced, now the bionical arch of foot in interior outside plays cushioning effect simultaneously.The bionical arch of foot in the little outside of rigidity coordinates rigidity
The bionical arch of foot in big inner side is complete to be used, and makes the interval change of stiffness variable of whole bionical arch of foot big, can preferably be completed to not
With effective absorption of impact.While bionical arch of foot deforms, toe viscoelastic material layer 24, the first extension spring 10, compression bullet
Spring 32 all generates certain deformation, and assists bionical arch of foot to absorb some impacts.Finally, bionical sufficient convergence " tiptoe is liftoff "
The step of, now, digit members 6 are rotated around the first bearing pin 23, and pushing rolling wheels 35 carry out axially-movable along compression spring push rod 31.
Store energy among compression spring 32 eventually through the compression spring push rod 31 being hinged with roller 35, when tiptoe is liftoff,
It is stored in the elastic potential energy among compression spring 32 and is converted into the kinetic energy that digit members 6 are rotated around the first bearing pin 23 again, so as to
Realize the elasticity startup of bionical foot motion.
Described bionical ankle connects comprising the first connector of ankle joint 17, ankle joint the first platform 20, ankle joint second
Part 43, the second platform of ankle joint 22.The first connector of ankle joint 17 is connected in the middle part of heel component 11 by the first nut 12；
The first platform of ankle joint 20 is hinged on the first connector of ankle joint 17 by the 3rd bearing pin 38；The second connector of ankle joint 43 leads to
Cross the middle part that threaded connection is connected in the first platform of ankle joint 20；The second connector of ankle joint 43 is by being connected in ankle joint second
The second hinge bearing 44 at the middle part of platform 22 is formed with the second platform of ankle joint 22 and is hinged；Two piston-type hydraulic cylinders 18 respectively with
The first axle bearing 19 being symmetrically distributed on the first platform of ankle joint 20 is hinged, and pistons end is with to be connected in ankle joint second flat
Third hinge bearing 45 symmetrical on platform 22 is formed and is hinged, and two epicoeles of piston-type hydraulic cylinder 18 are with epicoele, cavity of resorption with
Chamber is connected respectively with flexible rubber hydraulic tube 16, and whole hydraulic system fills hydraulic oil；The first axle bearing 19 being arranged symmetrically
It is connected on the first platform of ankle joint 20 by two pairs of the first bolts 39, the second nut 41；Use in pairs and symmetrical
Second extension spring 15, the 3rd extension spring 21, are respectively acting on the first platform of ankle joint 20 and heel component 11, ankle joint the
Between two platforms 22 and the first platform of ankle joint 20, when mounted in extended state.
During robot advances, the rotation realization that can pass through the first platform of ankle joint 20 around the 3rd bearing pin 38 is interior
Turn over, action of turning up, realize that the back of the body is bent, toe bends motion around the rotation of the 4th bearing pin 42 by the second platform of ankle joint 22.Two motions
It is non-interference, it is possible to achieve aggregate motion, and the reset moved is by the symmetrical stretching bullet of the second extension spring the 15, the 3rd
What spring 21 was realized.Here, the motion amplitude that the back of the body is bent, toe bends motion is larger, in order to prevent the 3rd extension spring 21 from producing quick returning
The phenomenon of bullet, improves walking stability, adds paired piston-type hydraulic cylinder 18 used in parallel with the 3rd extension spring 21, passes through
The flexible rubber hydraulic tube 16 of seemly diameter is selected, suitably damping is produced when bent, toe bends motion carrying on the back, motion is more put down
Surely.
Described by the present embodiment is the bionical foot in right side for biped robot, bionical foot and the bionical foot in right side on the left of it
Structure be symmetrical relationss, and working mechanism is completely the same.
Claims (1)
1. a kind of bionical foot for improving the naturality of biped robot's gait and stability, it is characterised in that：Include bionical foot originally
Body and bionical ankle；
Described bionical sufficient body includes the bionical arch of foot in outside (3), the bionical arch of foot in inner side (4), digit members (6) and heel component
(11), the second bionical arch of foot connector (13) is connected by two the 3rd symmetrical screws (14) and heel component (11)；
First bionical arch of foot connector (1) is solid by two the 5th symmetrical screws (40) and the second bionical arch of foot connector (13)
Even；The bionical arch of foot (3) in outside, the bionical arch of foot in inner side (4) are respectively by the first screw (2) and the first bionical arch of foot connector (1)
It is connected；Outside arch support part (28), medial arch supporting member (37) are respectively by the second screw (5) and the bionical arch of foot in outside
(3), the bionical arch of foot in inner side (4) is connected；Digit members (6) respectively by the first bearing pin (23) and outside arch support part (28),
Medial arch supporting member (37) is hinged；Roller (35) is hinged by the second bearing pin (34) with compression spring push rod (31)；Meanwhile, pressure
Contracting spring push-rod (31) is constituted with compression spring supporting member (29) and outside arch support part (28) and is slidably connected；Compression spring
Push rod (31) is constituted with compression spring supporting member (29) and medial arch supporting member (37) and is slidably connected；Compression spring push rod
(31) can slide axially；Connected mode between adjusting nut (33) and compression spring push rod (31) is to be threadedly coupled；It is logical
Overcompression spring support (29) and the change of adjusting nut (33) relative distance, can adjust the compression shape of compression spring (32)
State；Compression spring supporting member (29) is respectively by two pairs of the 4th screws (30) and outside arch support part (28), medial arch
Bearing member (37) is connected；In outer parapodum bow supporting member (28), between medial arch supporting member (37) and heel component (11), by spiral shell
The mode of stricture of vagina connection, symmetrical two pairs of extension spring suspension members (9), the first extension spring (10) is by extension spring suspension member
(9) use in pairs, the first extension spring (10) is in after mounting extended state；Toe viscoelastic material layer (24), outer parapodum
Bow viscoelastic material layer (26), medial arch viscoelastic material layer (36), heel viscoelastic material layer (8) respectively with digit members (6), outer
Parapodum bow supporting member (28), medial arch supporting member (37), heel component (11) bonding；Meanwhile, toe rubber antiskid pad
(25), heel rubber antiskid pad (7) is bonding with toe viscoelastic material layer (24), heel viscoelastic material layer (8) respectively, arch of foot rubber
Improved mat (27) is bonding with outside arch of foot viscoelastic material layer (26), medial arch viscoelastic material layer (36) respectively；
Described bionical ankle connects comprising the connector of ankle joint first (17), the platform of ankle joint first (20), ankle joint second
Part (43), the platform of ankle joint second (22)；The connector of ankle joint first (17) is connected in heel component by the first nut (12)
(11) middle part；The platform of ankle joint first (20) is hinged on the connector of ankle joint first (17) by the 3rd bearing pin (38)；Ankle
The connector of joint second (43) is threaded connection the middle part for being connected in the platform of ankle joint first (20)；The connector of ankle joint second
(43) by being connected in the second hinge bearing (44) in the middle part of the platform of ankle joint second (22) and platform (22) shape of ankle joint second
Into being hinged；Two first axle bearings (19) are symmetrically distributed on the platform of ankle joint first (20), each first axle bearing
(19) hinged piston type hydraulic cylinder (18), pistons end be connected in symmetrical 3rd hinge on the platform of ankle joint second (22)
Chain bearing (45) is formed and is hinged, and two piston-type hydraulic cylinder (18) epicoeles use respectively flexible rubber liquid with epicoele, cavity of resorption and cavity of resorption
Pressure pipe (16) connects, and whole hydraulic system fills hydraulic oil；The first axle bearing (19) being arranged symmetrically is by two pairs of the first spiral shells
Bolt (39), the second nut (41) are connected on the platform of ankle joint first (20)；Use in pairs and the second symmetrical stretching
Spring (15) is acted between the platform of ankle joint first (20) and heel component (11), in pairs use and the symmetrical the 3rd
Extension spring (21) is acted between the platform of ankle joint second (22) and the platform of ankle joint first (20), the second extension spring (15)
Extended state is in when mounted with the 3rd extension spring (21).
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| CN201510813485.0A CN105292297B (en) | 2015-11-21 | 2015-11-21 | Bionic foot capable of improving gait naturality and stability of biped robot |
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| CN201510813485.0A CN105292297B (en) | 2015-11-21 | 2015-11-21 | Bionic foot capable of improving gait naturality and stability of biped robot |
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