CN115214818A - Humanoid foot plate system with integral structure for biped robot - Google Patents
Humanoid foot plate system with integral structure for biped robot Download PDFInfo
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- CN115214818A CN115214818A CN202210906552.3A CN202210906552A CN115214818A CN 115214818 A CN115214818 A CN 115214818A CN 202210906552 A CN202210906552 A CN 202210906552A CN 115214818 A CN115214818 A CN 115214818A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles 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
- B62D57/032—Vehicles 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
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Abstract
A human foot plate simulating system with an integral structure of a biped robot belongs to the technical field of foot plates of biped robots. The invention aims at the problems of poor adaptability of the biped robot with the existing single-degree-of-freedom foot mechanism to terrain and stiff walking gait. The method comprises the following steps: the corresponding sections of the sole and the heel of the rubber foot pad are respectively provided with a film pressure sensor; the sole section and the heel section of the human foot imitating framework are arranged on the film pressure sensor; a three-dimensional force sensor is arranged in the heel section and is connected with the robot crus through an ankle connecting piece; an IMU attitude sensor, a DSP information acquisition controller, a sole pressure signal processing circuit and a three-dimensional force signal processing circuit are arranged in the humanoid foot framework; the sensing signals are transmitted to a DSP information acquisition controller; the split type shell rear section is detachably connected with the split type shell front section and is installed on the humanoid foot framework to form the integral shell. The invention adopts an integral structure design and has better adaptability to the terrain.
Description
Technical Field
The invention relates to an integral structure human foot simulating plate system of a biped robot, belonging to the technical field of biped robot foot plates.
Background
The biped humanoid robot has incomparable advantages compared with other robots in the aspects of motion flexibility and environmental adaptability. The feet are important components of the lower limb movement system of the biped robot. Aiming at the excellent characteristics of human feet, a foot plate of the robot needs to be designed by adopting bionics, and meanwhile, the foot posture and stress information of the biped robot during walking also need to be acquired.
The bionic foot mechanism of the existing biped robot is mainly divided into a single-degree-of-freedom foot mechanism and a multi-degree-of-freedom foot mechanism. Wherein, the single-degree-of-freedom foot mechanism generally adopts an integral sole; the simple flat plate type foot of the sole has the defects that the gait is rigid when walking, the foot cannot be personified, the high-speed walking is not stable enough, and the adaptability is poor when walking on an uneven road surface, and the foot plate can adapt to the terrain by depending on the adjustment of the ankle joint. The humanoid robot adopting the integral sole has poor adaptability, but the operation system is simpler, is a foot type commonly used by the humanoid robot at present, and takes ASIMO of Honda company as a representative.
The multi-degree-of-freedom foot mechanism comprises an active control structure, a passive control structure and an active and passive combined structural form. The multi-degree-of-freedom foot plate mechanism is mostly added with an active or passive control toe mechanism or is designed with a front sole and a rear sole separated. Some of the simulation models the heels, the achilles tendons, the front soles, the five toe joints and the like, and the simulation models are complex in structure, low in rigidity, unstable in structure and complex to control; some link mechanisms with shock absorption are additionally provided with shock absorbers, but the link mechanisms with shock absorption are overlarge in size, so that great difference exists between walking and human gait; some have the same size of foot arch and passive toes as a normal person, but have the defects of heavy structure, large inertia, difficult control and insufficient space for installing a sensing sensor.
Most of human foot simulating sensing systems adopt ankle multidimensional force and sole force sensors, and the design cannot effectively sense the posture change of the foot. In actual use, the multi-dimensional force sensors of the ankles and the plantar force sensors are mostly configured independently, and the force information of the feet cannot be sensed jointly, so that the information of the feet of the biped robot cannot be sensed accurately. The information of the feet of the biped robot comprises the size of the sole force and the distribution condition of the sole force, and the posture of the feet, and the ground conditions of the biped robot standing can be better sensed by acquiring comprehensive information, including the hardness and the inclination angle of the ground. And the sensor signal processing system and the foot plate are designed separately, so that the integration level of the system is low, excessive cables need to be led out from the foot plate, and the reliability of the system in actual working is reduced.
Disclosure of Invention
The invention provides a human foot simulating footboard system with an integral structure for a biped robot, aiming at the problems of poor adaptability of the biped robot with a single-degree-of-freedom foot mechanism to terrain and stiff walking gait.
The invention relates to a human foot simulating plate system with an integral structure for a biped robot, which comprises a split type shell rear section, an ankle connecting piece, a three-dimensional force sensor, an IMU attitude sensor, a human foot simulating framework, a split type shell front section, a DSP information acquisition controller, a sole pressure signal processing circuit, a sole front section film pressure sensor, a rubber foot pad, a three-dimensional force signal processing circuit and a sole rear section film pressure sensor,
the rubber foot pad is divided into a sole corresponding section, an arch corresponding section and a heel corresponding section which are connected in sequence; the corresponding section of the sole is provided with a film pressure sensor at the front section of the sole, and the corresponding section of the heel is provided with a film pressure sensor at the rear section of the sole;
the human foot simulating framework has arch bending simulating a human foot structure and comprises a sole section, an arch section and a heel section which are sequentially connected; the sole section is correspondingly arranged on the film pressure sensor at the front section of the sole, the arch section is concavely bent, and the heel section is correspondingly arranged on the film pressure sensor at the rear section of the sole;
a three-dimensional force sensor is arranged in the heel section, an ankle connecting piece is arranged on the working plane of the three-dimensional force sensor, and the ankle connecting piece is used for being connected with the crus of the robot;
an IMU attitude sensor, a DSP information acquisition controller, a plantar pressure signal processing circuit and a three-dimensional force signal processing circuit are arranged in the humanoid foot skeleton;
the rear section of the split type shell is detachably connected with the front section of the split type shell and is arranged on the humanoid foot skeleton to form an integral shell;
the three-dimensional force sensor is used for sensing a stress signal at the ankle, and the stress signal at the ankle is processed by the three-dimensional force signal processing circuit and then transmitted to the DSP information acquisition controller;
the IMU attitude sensor is used for sensing a three-dimensional motion attitude signal of the humanoid foot skeleton and transmitting the three-dimensional motion attitude signal to the DSP information acquisition controller;
the front-section film pressure sensor and the rear-section film pressure sensor are respectively used for sensing pressure signals borne by the sole section and the heel section of the foot skeleton of the humanoid foot, and the pressure signals are transmitted to the DSP information acquisition controller after being processed by the sole pressure signal processing circuit.
According to the human foot simulating plate system with the integrated structure for the biped robot, the human foot simulating framework is obtained by performing topology optimization weight reduction and curved surface modeling reconstruction based on an original framework structure; the curved surface modeling reconstruction comprises finite element analysis of an original framework structure, iteration is carried out under the constraint conditions of stress and space, and finally the structure of the humanoid foot framework is determined.
According to the human foot simulating plate system with the integral structure of the biped robot, the material of the human foot simulating framework is titanium alloy; and obtaining a titanium alloy framework body by adopting a 3D printing technology, and processing the titanium alloy framework body by adopting a shot blasting process to obtain the humanoid foot framework.
According to the human foot simulating footboard system with the integral structure of the biped robot, the DSP information acquisition controller is communicated with the upper computer controller of the robot by adopting a CAN bus.
According to the integral structure human foot simulating plate system of the biped robot, the front-section film pressure sensor and the rear-section film pressure sensor of the sole are integrated on one film, and stress sites are set by adopting a printing process according to the stress position of the human foot.
The biped robot monolithic structure simulates a human foot pedal system, and the number of the stress sites is 6.
According to the human foot simulating plate system with the integrated structure for the biped robot, a plurality of bearing cylindrical platforms are arranged in the heel section of the human foot simulating framework.
According to the humanoid foot plate system with the integral structure of the biped robot, the DSP information acquisition controller obtains the joint perception of the stress information and the attitude information of the foot plate according to the received information, and carries out fusion processing on the received information to obtain the foot information processing result, and the foot information processing result is transmitted to the upper computer controller of the robot.
The invention has the beneficial effects that: the invention relates to a biped robot foot plate. The foot plate of the robot is simple in structure, high in integration level, light in weight and rich in foot sole information by adopting an integral structural design, and can realize the functions of simulating the multidimensional perception, the flexible buffer function, the high rigidity and the like of the ground environment of human feet; the defects of stiff walking, poor terrain adaptability and the like of a flat plate structure of the traditional robot foot plate are overcome, and the defects of low rigidity, complex structure, heaviness and the like caused by the complex structure of the multi-freedom-degree humanoid foot are overcome.
Drawings
FIG. 1 is a schematic structural diagram of a human foot simulating footboard system with an integrated structure of a biped robot according to the present invention;
FIG. 2 is a signal sensing schematic block diagram of a humanoid footboard system of the biped robot monolithic structure;
FIG. 3 is a schematic structural view of a human foot-imitating skeleton;
FIG. 4 is an original structural view of a human foot-like framework before optimization;
fig. 5 is a schematic diagram of the selected positions of the force-bearing sites when the pressure sensors of the plantar anterior section membrane and the plantar posterior section membrane are integrated on a piece of membrane.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention provides a human foot simulating foot plate system with an integral structure of a biped robot, which is shown in a first embodiment and combined with figures 1 to 4, and comprises a split type shell rear section 1, an ankle connecting piece 2, a three-dimensional force sensor 3, an IMU attitude sensor 4, a human foot simulating framework 5, a split type shell front section 6, a DSP information acquisition controller 7, a sole pressure signal processing circuit 8, a sole front section film pressure sensor 9, a rubber foot pad 10, a three-dimensional force signal processing circuit 11 and a sole rear section film pressure sensor 12,
the rubber foot pad 10 is divided into a sole corresponding section, an arch corresponding section and a heel corresponding section which are connected in sequence; the corresponding section of the sole is provided with a front sole section film pressure sensor 9, and the corresponding section of the heel is provided with a rear sole section film pressure sensor 12;
the artificial foot framework 5 is provided with arch bending of an artificial foot structure and comprises a sole section, an arch section and a heel section which are connected in sequence; the sole section is correspondingly arranged on the film pressure sensor 9 at the front section of the sole, the arch section is concavely bent, and the heel section is correspondingly arranged on the film pressure sensor 12 at the rear section of the sole;
a three-dimensional force sensor 3 is arranged in the heel section and is connected with a base of the three-dimensional force sensor 3; an ankle connecting piece 2 is arranged on a working plane of the three-dimensional force sensor 3, and the ankle connecting piece 2 is used for being connected with a lower leg of the robot; the surface of the working plane is finished, so that the stress condition of the ankle can be sensed;
an IMU attitude sensor 4, a DSP information acquisition controller 7, a sole pressure signal processing circuit 8 and a three-dimensional force signal processing circuit 11 are arranged in the humanoid foot skeleton 5;
the split type shell rear section 1 is detachably connected with the split type shell front section 6 and is arranged on the humanoid foot framework 5 to form an integral shell;
the three-dimensional force sensor 3 is used for sensing a stress signal at the ankle, and the stress signal at the ankle is processed by the three-dimensional force signal processing circuit 11 and then transmitted to the DSP information acquisition controller 7;
the IMU attitude sensor 4 is used for sensing a three-dimensional motion attitude signal of the humanoid foot skeleton 5 and transmitting the three-dimensional motion attitude signal to the DSP information acquisition controller 7;
the sole front section film pressure sensor 9 and the sole rear section film pressure sensor 12 are respectively used for sensing pressure signals borne by the sole section and the heel section of the humanoid foot framework 5, and the pressure signals are transmitted to the DSP information acquisition controller 7 after being processed by the sole pressure signal processing circuit 8.
This embodiment the foot board of imitative people is single degree of freedom overall structure, and the integral type design does not contain active and passive joint, and it links to each other with the ankle joint through three-dimensional force transducer, and the during operation jointly perception sole atress information and gesture information through plantar film pressure sensor (FSR), three-dimensional force transducer and IMU attitude sensor feeds back to the host computer through DSP information acquisition controller.
The shape of the foot-imitating plate of the human foot is similar to that of the human foot, the framework is provided with arch bending, and the framework and various sensors and the like are wrapped inside the integral shell and the rubber foot pad 10.
The foot plate is integrally and separately designed with the ankle, so that the foot plate is convenient and quick to assemble and replace. Only need design corresponding ankle joint interface just can install on arbitrary humanoid robot fast, have simple to operate's characteristics.
Split type shell anterior segment 6 and split type shell back end 1's quick detach design, at ankle department components of a whole that can function independently, whole sole need not pull down during the dismouting, direct can be in the past back quick assembly disassembly on the robot, nimble maintenance internals.
The rubber foot pad 10 has a damping effect, can play a good role in buffering and protecting a foot plate of a humanoid foot, can well improve the flexibility of movement, improves the friction force between the robot and the ground, and can be replaced quickly after being worn for a long time.
Further, with reference to fig. 3 and 4, the humanoid-foot skeleton 5 is obtained by performing topology optimization weight reduction and surface modeling reconstruction based on an original skeleton structure; the curved surface modeling reconstruction comprises finite element analysis of an original framework structure, iteration is carried out under the constraint conditions of stress and space, and finally the structure of the humanoid foot framework 5 is determined.
The artificial foot framework 5 is designed by comprehensively considering the requirement of the integration space of the foot arch and the sensor, the front sole and the rear sole contact the ground, the foot arch bends and is concavely separated from the ground, the foot arch simulates the arrangement of the artificial foot framework, the functions of buffering, shock absorption and the like can be realized, and the artificial foot framework has the characteristic of high structural rigidity.
The theory and practice show that under the condition of comprehensive quality, structural space and performance requirements, the humanoid-foot framework 5 is subjected to topology optimization, compared with an original structure, the framework weight reduction can reach about 80%, the foot plate quality is effectively reduced, the inertia of a foot plate is reduced, the walking and jumping control of the biped robot is more flexible, accurate and rapid, and the control precision is improved.
Finite element analysis is carried out on the original framework structure, the rigidity and stability of the framework can be effectively improved, and the constraint feedback effect can be achieved in the whole framework optimization design link. And continuously iterating under the constraint conditions of stress and space to finally determine the structure of the skeleton curved surface model.
As an example, the material of the humanoid foot framework 5 is titanium alloy; the titanium alloy framework body is obtained by adopting a 3D printing technology, the shot blasting process is adopted for processing the titanium alloy framework body, the surface performance is improved, then finish machining is carried out, various planes and holes are processed, the left and right humanoid foot frameworks 5 are designed into a completely symmetrical structure, the cost can be reduced, and the interchangeability of parts is improved.
The front sole and the rear sole of the humanoid foot framework 5 are integrated, 3D printing is integrally formed, the processing is simple and convenient, the bionic performance of a curved surface structure is excellent, the rigidity is high, the stability is good, and the whole foot plate is compact in structure and reasonable in size; the sole and ankle separation design can reduce the degree of coupling, improves the interchangeability and the reliability of sole.
And the DSP information acquisition controller 7 is communicated with a robot upper computer controller by adopting a CAN bus. When the foot plate system is used, the sole information can be sensed only by providing a 24V direct-current power supply for the foot plate system. The power supply communication interface is simple and convenient to use.
Further, as shown in fig. 5, the pressure sensor of the front section of the sole and the pressure sensor of the rear section of the sole are integrated on a thin film, and force-bearing sites are arranged by adopting an integrated printing process according to the force-bearing position of the foot and the corresponding position of the foot plate, so that the force-bearing perception of the sole is realized.
A stress platform is arranged on the film pressure type sensor, a plurality of stress sites are integrated on a piece of film by adopting a printing process, and the stress platform is arranged between the humanoid foot framework 5 and the rubber foot pad 10. The film pressure sensor is designed by referring to the bionic human foot, is highly coupled with the foot plate skeleton structure, does not need to be supported by a sensor arranged on the lower limb, optimizes the design, reduces the cost, improves the working reliability of the system, and can be used interchangeably between different robots.
In the embodiment, the integrated design mode of the FSR film pressure sensor avoids the use of a large number of cables, saves space and improves the reliability of the sensor.
By way of example, the force-receiving sites are 6. In actual use, about six pressure measurement points can be lifted to about twelve pressure measurement points, so that the measurement accuracy is improved.
Set up a plurality of bearing cylinder platforms in the heel section of imitative people's foot skeleton 5.
Further, as shown in fig. 2, the DSP information acquisition controller 7 obtains the joint sensing of the foot plate stress information and the posture information according to the received information, and performs fusion processing on the received information to obtain a foot sole information processing result, which is transmitted to the robot upper computer controller.
In the embodiment, the human foot simulating plate adopts a multi-sensor integrated design, the three-dimensional force sensor, the plantar film pressure sensor, the IMU attitude sensor, a signal conditioning circuit of each sensor, the sensor acquisition controller and the like are integrated into the foot plate framework, hole positions are preset for installation, and the integration level of the structure can be improved. Meanwhile, the high-performance DSP information acquisition controller integrated on the foot plate uniformly acquires and fuses various sensor signals, and uploads foot sole information to the upper computer in real time through the CAN bus, so that cables between the foot plate and the upper computer CAN be reduced, and the working stability and reliability of the system are improved.
The integrated design of the multiple sensors, the three-dimensional force sensor is connected with the ankle joint, the plantar force sensor adopts the bionic film design, the IMU navigation attitude sensor senses the attitude of the foot plate, the sensing range and the redundancy are improved, various sensors and a processing circuit are integrated on a framework structure, the foot plate is compact in structure, the stress and attitude information of the foot can be accurately fed back in real time, high-speed integration sensing and feedback are achieved on the foot plate information acquisition controller, and the control precision is improved.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (8)
1. A biped robot integral structure human foot simulating plate system is characterized by comprising a split type shell rear section (1), an ankle connecting piece (2), a three-dimensional force sensor (3), an IMU attitude sensor (4), a human foot simulating framework (5), a split type shell front section (6), a DSP information acquisition controller (7), a sole pressure signal processing circuit (8), a sole front section film pressure sensor (9), a rubber foot pad (10), a three-dimensional force signal processing circuit (11) and a sole rear section film pressure sensor (12),
the rubber foot pad (10) is divided into a sole corresponding section, an arch corresponding section and a heel corresponding section which are connected in sequence; a front sole film pressure sensor (9) is arranged on the corresponding section of the sole, and a rear sole film pressure sensor (12) is arranged on the corresponding section of the heel;
the human foot simulating framework (5) is provided with an arch bend simulating a human foot structure and comprises a sole section, an arch section and a heel section which are sequentially connected; the sole section is correspondingly arranged on the film pressure sensor (9) at the front section of the sole, the arch section is concavely bent, and the heel section is correspondingly arranged on the film pressure sensor (12) at the rear section of the sole;
a three-dimensional force sensor (3) is arranged in the heel section, an ankle connecting piece (2) is arranged on the working plane of the three-dimensional force sensor (3), and the ankle connecting piece (2) is used for being connected with the lower leg of the robot;
an IMU attitude sensor (4), a DSP information acquisition controller (7), a plantar pressure signal processing circuit (8) and a three-dimensional force signal processing circuit (11) are arranged in the humanoid foot skeleton (5);
the split type shell rear section (1) is detachably connected with the split type shell front section (6) and is arranged on the humanoid foot framework (5) to form an integral shell;
the three-dimensional force sensor (3) is used for sensing a stress signal at the ankle, and the stress signal at the ankle is processed by the three-dimensional force signal processing circuit (11) and then transmitted to the DSP information acquisition controller (7);
the IMU attitude sensor (4) is used for sensing a three-dimensional motion attitude signal of the humanoid foot skeleton (5) and transmitting the three-dimensional motion attitude signal to the DSP information acquisition controller (7);
the foot sole front section film pressure sensor (9) and the foot sole rear section film pressure sensor (12) are respectively used for sensing pressure signals borne by the foot sole section and the heel section of the humanoid foot framework (5), and the pressure signals are transmitted to the DSP information acquisition controller (7) after being processed by the foot sole pressure signal processing circuit (8).
2. The biped robotic monolithic structure human foot board emulating system of claim 1,
the humanoid foot skeleton (5) is obtained by performing topology optimization weight reduction and curved surface modeling reconstruction based on an original skeleton structure; the curved surface modeling reconstruction comprises the steps of carrying out finite element analysis on an original framework structure, iterating under the constraint conditions of stress and space, and finally determining the structure of the humanoid foot framework (5).
3. The biped robotic monolithic structure human foot pedal emulating system of claim 2,
the material of the humanoid foot framework (5) is titanium alloy; and (3) obtaining a titanium alloy framework body by adopting a 3D printing technology, and processing the titanium alloy framework body by adopting a shot blasting process to obtain the humanoid foot framework (5).
4. The biped robotic monolithic structure human foot board emulating system of claim 3,
and the DSP information acquisition controller (7) is communicated with the robot upper computer controller by adopting a CAN bus.
5. The biped robot monolithic structure human foot simulating plate system according to claim 4, wherein the plantar anterior section membrane pressure sensor and the plantar posterior section membrane pressure sensor are integrated on one piece of membrane, and the stress site is set by adopting a printing process according to the stress position of the human foot.
6. The biped robotic monolithic structure human foot pedal imitation system of claim 5,
the number of the stress points is 6.
7. The biped robotic monolithic structure human foot pedal emulating system of claim 6,
a plurality of bearing cylindrical platforms are arranged in the heel section of the humanoid foot framework (5).
8. The biped robotic monolithic structure human foot pedal emulating system of claim 7,
the DSP information acquisition controller (7) obtains the joint perception of the stress information and the posture information of the foot plate according to the received information, performs fusion processing on the received information, obtains a foot sole information processing result, and transmits the foot sole information processing result to the upper computer controller of the robot.
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