CN1513647A - Human Shaped robot foot and foot force information detecting method - Google Patents

Abstract

A robot's foot with the shape similar to that of human foot is composed of rubber sole plate under foot plate, foot plate, switch plate, six-component sensor, rubber ring between said foot plate and lower flange, lower flange between foot plate and six-component sensor, upper flange between six-component sensor and switch plate and connected to malleolus joint of robot, and signal processing circuit integrated in said six-component sensor.

Description

A kind of foot of anthropomorphic robot and strength of one's legs information detecting method

Technical field

The present invention relates to automation control area, particularly the detection method of strength of one's legs information in a kind of foot of anthropomorphic robot and the walking process in the robot application field.

Technical background

The biped anthropomorphic robot is the comprehensive branch of learning that multidisciplinary fusions such as collection bionics, mechanics and Control Engineering cross, not only relate to linear, non-linear, based on multiple sensors information control and control technology in real time, but also included the technology of the aspects such as modeling, digital simulation technique and hybrid system control research of complex electromechanical systems.

In recent years, particularly behind the anthropomorphic type bipod walking robot of P3 that P2 that in December, 1996, Japanese honda company released and back thereof are released, apery shape biped robot Study on Technology has reached climax once more in the world.But the research of biped anthropomorphic robot also has very big gap apart from practical application, faces many problems that need solution.Particularly, anthropomorphic robot stabilized walking control at present mainly depends on the ZMP theory that Yugoslavia scientist Vokobratovic proposes, but lacks the perfect ZMP detection method of comparison system.

The mode that extensively adopts has two kinds at present, and the first is installed two six-component force sensors between robot sole and ankle-joint, by the stressed variation of single support cycle, dual-gripper cycle foot in the walking process being obtained the track of ZMP; It two is by to the anthropomorphic robot mathematical modeling, obtains the motion state in each joint by the controlled motion calculation of parameter, calculates the ZMP track in the walking process.

For first method, owing to be directly to adopt traditional wrist force sensor to carry out strength of one's legs to measure, the structure of sensor, range all can not meet the demands, particularly ZMP represents is to be zero point with the ground moment components, and this frame mode makes and need additionally calculate the coordinate and the ground distance of sensor just and can obtain the ZMP track.

More outstanding for second way problem, its main cause is that the inexactness of model brings very big error, and joint kinematic parameter itself is a controlled amount, thisly be used for the walking process gait planning based on the method that calculates the ZMP track and must bring the very big error of calculation, also must bring the unstability in the anthropomorphic robot walking process.

As contacting and stressed position with the external world is unique in the walking process, biped robot's pin is to realize one of anthropomorphic robot most important parts, the strength of one's legs detection is to solve the most important means of stable dynamically walking in the anthropomorphic robot walking process, detection by multidimensional strength of one's legs information in the walking process, the ZMP actual path that can directly calculate the biped anthropomorphic robot changes, and relatively can form with target ZMP track the Dynamic Programming and the body joints of anthropomorphic robot gait are controlled.

Summary of the invention

Patent of the present invention provides a kind of foot of anthropomorphic robot and strength of one's legs information detecting method.The profile of this robot foot imitation people pin can directly link to each other with the ankle-joint of anthropomorphic robot, is used for detecting the multidimensional strength of one's legs information of biped anthropomorphic robot walking process.Simultaneously carry out the calculating of ZMP track in the walking robot walking process, to judge in the dynamic walking process of anthropomorphic robot whether be in stable state based on multidimensional strength of one's legs information.

Technical scheme of the present invention is: a kind of foot of anthropomorphic robot, comprise Rubber foot bottom (1), sole (2),, go up circular iris (10) in keyset (8) and the six-component force sensor (6), go up hard center (11), rood beam (12), hard center (13), circular iris (14) down down, it is characterized in that:

Rubber foot bottom (1) is installed in below the sole (2), between sole (2) and the lower flange (4) rubber pad ring (3) is installed, constitute a kind of impulsive force absorbing structure, rubber pad ring (3) embeds the following recess position that is installed in sole (2), to guarantee that rubber pad ring (3) cooperates and the end face cooperation with cylindrical between the sole (2), the bottom of lower flange (4) and rubber pad ring (3) inner ring secure fit, absorb the impulsive force that robot produces when pin lands in the process of walking, effect with mechanical LPF, alleviate and carry out the vibration that shank submissive when control produces, the installation site on the sole (2) is positioned at its inboard and departs from the center;

Lower flange (4) connects sole (2) and six-component force sensor (6), upper flange (7) connects six-component force sensor (6) and keyset (8), the sole (2) that rubber layer is installed directly contacts with ground, be used to support robot, keyset (8) links together with anthropomorphic robot ankle-joint (15), and signal processing circuit (5) is integrated in the inside of six-component force sensor (6);

There are six screwed holes to be used for realizing and being connected of six-component force sensor (6) on the described keyset (8), have four through holes to be used for and being connected of robot anklebone (15) in addition, keyset (8) and ankle-joint (15) guarantee the transmission of space coordinates by locating hole and alignment pin (16);

Described six-component force sensor (6)) adopts the two circular iris structures that have hard center, whole sensor is by last circular iris (10), go up hard center (11), rood beam (12), following hard center (13), following circular iris (14) mechanical connection constitutes, the hard center (11) of upper diaphragm (10) and following diaphragm (14), (13), upper flange (7), lower flange (4) adopts axis hole to cooperate and installs, guarantee the transmission of coordinate system Z to axis, upper diaphragm (10), the circular iris of following diaphragm (14) and upper flange (7), lower flange (4) is gone up chiseling expression X, the mutually perpendicular reference mark line of Y direction is to guarantee X, the Y coordinate direction transmits uniformity;

Six-component force sensor (6) adopts when dividing body structure, the hard center (11) of upper diaphragm (10) is processed with the cross groove that matches with rood beam (12) with the hard center (13) of following diaphragm (14), rood beam (12) adopts structural I-beam, and beam is weldingly fixed on groove.Described rubber pad ring (3) material can be chloroprene rubber, also can adopt the elastomeric material of similar machines characteristic.

Described signal processing circuit (5) is analog processing circuit and digital processing circuit, analog processing circuit and digital processing circuit can place six-component force sensor (6) inside simultaneously, also analog processing circuit can be placed six-component force sensor (6) inside, digital processing circuit is installed in the upper surface or instep (9) of sole (2).

Described six-component force sensor (6) can adopt the branch body structure, also can adopt integral structure to realize obtaining of three-axis force information and obtaining of three-axis force square information.

A kind of a kind of foot of anthropomorphic robot as claimed in claim 1 is realized the method that strength of one's legs detects, it is characterized in that: the six-component force sensor (6) that adopts two circular iris structures, strain force sensing resistance on last circular iris (10), following circular iris (14) and rood beam (12) is realized obtaining six component force information by different responsive bridge circuit arrangements, and obtain coupled relation between dimension by demarcation, six groups of bridge circuit output decouplings are handled, and realization three-dimensional force Fx, Fy, Fz and three-dimensional moment Mx, My, Mz information are independently obtained;

The origin of coordinates of described six-component force sensor (6) is defined as circular iris sensitive area center, wherein the circular iris axis direction be Z to, corresponding X, Y direction meet Ka Dier coordinate dextrorotation direction;

X, Y yawning moment information are obtained responsive bridge circuit and are adopted in the orthogonal layout in last circular iris (10) plane, and its force sensing resistance arranged direction is identical with following circular iris (14), wherein:

Resistance R1y, R2y, R3y, R4y are used for realizing the measurement to moment Mx on last circular iris (10) sensitive area;

Resistance R1x, R2x, R3x, R4x are used for realizing the measurement to moment My on last circular iris (10) sensitive area;

Resistance R 1, R2, R3, R4 on rood beam (12) sensitive area is used for realizing the measurement to moment Mz; Two sensitive directions of following circular iris (14) and last circular iris (10) require to be consistent, X, Y direction force information obtain responsive bridge circuit and are realized by resistance R 1x, R2x, R3x, R4x and R1y, R2y, R3y, R4y, employing is orthogonal layout in following circular iris (14) plane, Z direction force information obtains sensitive resistance R1z, R2z, R3z, R4z are arranged in down circular iris (14) upper edge X, the crossing 45 degree directions of Y sensitive direction, wherein:

Resistance R1x, R2x, R3x, R4x are used for realizing the measurement to power Fx on following circular iris (14) sensitive area;

Resistance R1y, R2y, R3y, R4y are used for realizing the measurement to power Fy on following circular iris (14) sensitive area;

Resistance R1z, R2z, R3z, R4z are used for realizing the measurement to power Fz on following circular iris (14) sensitive area;

Resistance R 1z, the R2z, R3z, the R4z that wherein go up on circular iris (10) sensitive area can also provide one tunnel redundancy to power Fz measurement, are used for six-component force sensor (6) calibration;

Upper diaphragm (10) in the six-component force sensor (6), following circular iris (14) resistance location arrangements is: the R1x on the circular iris, R2x, R3x, R4x, R1y, R2y, R3y, R4y, R1z, R2z, R3z, totally 12 sensitive resistances of R4z pastes according to the position of predesignating, R1x wherein, R2x and R3x, R4x is arranged symmetrically on the straight line of directions X, R1y, R2y and R3y, R4y is arranged symmetrically on the straight line of Y direction, and R1z, R2z and R3z, R4z is arranged symmetrically in two straight lines of XY and intersects respectively on the straight line of 45 degree directions, and three straight lines are the center by circular film all;

R1x, R4x, R1y, R4y, R1z, R4z are arranged near circular iris cylindrical position, and R2x, R3x, R2y, R3y, R2z, R3z are arranged in the position near the hard center of circular iris;

Rood beam (12) strain resistor of six-component force sensor (6) is arranged: resistance R 1, R2, R3, R4 arrange according to diagonal positions, to guarantee the positive and negative direction symmetry of sensor; Other four resistance can be arranged in the two sides of same beam, also can be arranged on the different beams, and concrete paste position is near the root of rood beam;

Fix in order to realize six-component force sensor (6) and sole (2) and keyset (8) relative space position, circle adopts matched in clearance in lower flange (4) cylindrical and the rubber pad ring (3), the cylindrical of rubber pad ring (3) and sole (2) installing hole adopt matched in clearance simultaneously, make the relative position of each parts of foot and six-component force sensor (6) fix, to guarantee that coordinate transmits uniformity, it is 50mm that flange (4) cooperates aperture diameter with rubber pad ring (3), flange is a negative common difference, and rubber pad ring (3) is a plus tolerance, it is 60mm that while rubber pad ring (3) cylindrical cooperates the aperture with sole (2) installing hole, rubber pad ring (3) diameter is a negative common difference, and sole (2) aperture is a plus tolerance.

The own upper and lower surface of circular iris of last circular iris (10) and following circular iris (14) will keep certain plane parallel degree, when Z is 120Kg to measuring range, X, when Y direction range is 60Kg, upper diaphragm thickness is 3.5mm, following diaphragm thickness is 3.8mm, and circular iris plane parallel degree is 0.02mm.

The invention has the beneficial effects as follows: the robot foot that adopts similar people's pin shape, as the unique contact portion of robot and ground, link together with the anthropomorphic robot ankle-joint, not only can carry the weight of robot body, can also be used to detection machine People's Bank of China and walk strength of one's legs information in the process, by foot two pin provided by the invention are installed at the biped anthropomorphic robot, gait information in can recorder's anthropomorphic robot walking process, and judge stability in the dynamic walking process of anthropomorphic robot with this.Change by the actual ZMP track that strength of one's legs information in the single, double support phase is reflected simultaneously, with target ZMP track relatively, can be used to realize gait planning in the stabilized walking process.

Description of drawings

The present invention is described further below in conjunction with drawings and Examples.

Fig. 1 is the foot of anthropomorphic robot outside drawing;

Fig. 2 is the foot of anthropomorphic robot generalized section;

Fig. 3 is an anthropomorphic robot foot six-component force sensor structural representation;

Fig. 4 is a power sensor upper diaphragm strain resistor layout drawing;

Fig. 5 is a power sensor rood beam strain resistor layout drawing;

Fig. 6 is a membrane strains resistance layout drawing under the power sensor;

Fig. 7 is a foot of anthropomorphic robot negative installation site schematic diagram;

Fig. 8 is an anthropomorphic robot sole installation diagram;

Fig. 9 is the location schematic diagram of foot of anthropomorphic robot and ankle-joint;

Figure 10 is the ZMP definition of a kinematic chain of foot of anthropomorphic robot;

Figure 11 is a foot of anthropomorphic robot list pin holding state;

Figure 12 is foot of anthropomorphic robot both feet holding states.

Among the figure 1, the Rubber foot bottom, 2, sole, 3, rubber pad ring, 4, lower flange, 5, signal processing circuit, 6, six-component force sensor, 7, upper flange, 8, keyset, 9, instep, 10, go up circular iris, 11, go up hard center, 12, rood beam, 13 times hard centers, 14 times circular irises, 15, ankle-joint.

The specific embodiment

Fig. 1 is a foot of anthropomorphic robot outside drawing of the present invention, Fig. 2 is the foot of anthropomorphic robot generalized section, and it comprises Rubber foot bottom 1, sole 2, rubber pad ring 3, lower flange 4, signal processing circuit 5, six-component force sensor 6, upper flange 7, keyset 8 and instep 9.

Fig. 3 is foot's six-component force sensor structural representation, wherein go up circular iris 10, play circular iris 14 to adopt the circular iris structure that has hard center, the hard center 11 of last circular iris 10 adopts axis hole to cooperate with following circular iris 14 with upper flange 7, lower flange 4, guarantee the transmission of coordinate system Z to axis, chiseling has expression X, the mutually perpendicular reference mark line of Y direction on last circular iris 10, following circular iris 14 circular irises and upper flange 7, the lower flange 4, transmits uniformity to guarantee X, Y coordinate direction.

Fig. 4 is a upper diaphragm resistance location arrangements schematic diagram, R1x, R2x on upper diaphragm 10 circular irises, R3x, R4x, R1y, R2y, R3y, R4y, R1z, R2z, R3z, R4z totally 12 sensitive resistances paste according to the position of predesignating, wherein R1x, R2x and R3x, R4x are arranged symmetrically on the straight line of directions X, R1y, R2y and R3y, R4y are arranged symmetrically on the straight line of Y direction, and R1z, R2z and R3z, R4z is arranged symmetrically in and two straight lines of XY intersect respectively on the straight line of 45 degree directions, and three straight lines are the center by circular film all; And R1x, R4x, R1y, R4y, R1z, R4z are arranged near circular iris cylindrical position, and R2x, R3x, R2y, R3y, R2z, R3z are arranged in the position near the hard center of circular iris;

Fig. 5 power sensor rood beam 12 strain resistor layout drawings, wherein resistance R 1, R2, R3, R4 arrange according to diagonal positions, to guarantee the positive and negative direction symmetry of sensor; Other four resistance can be arranged in the two sides of same beam, also can be arranged on the different beams.Concrete paste position is near the root of rood beam 12.

Fig. 6 is following circular iris resistance location arrangements schematic diagram, R1x, R2x on following diaphragm 14 circular irises, R3x, R4x, R1y, R2y, R3y, R4y, R1z, R2z, R3z, R4z totally 12 sensitive resistances paste according to the position of predesignating, wherein R1x, R2x and R3x, R4x are arranged symmetrically on the straight line of directions X, R1y, R2y and R3y, R4y are arranged symmetrically on the straight line of Y direction, and R1z, R2z and R3z, R4z is arranged symmetrically in and two straight lines of XY intersect respectively on the straight line of 45 degree directions, and three straight lines are the center by circular film all; And R1x, R4x, R1y, R4y, R1z, R4z are arranged near circular iris cylindrical position, and R2x, R3x, R2y, R3y, R2z, R3z are arranged in the position near the hard center of circular iris;

Fig. 7 is sole version installation site figure, has provided robot left foot base plate installation site schematic diagram among the figure, and mounting center is near the upper left corner.For example, the concrete appearance and size of sole is 150mm * 220mm, is that the installation site of benchmark correspondence is of a size of 70mm * 90mm with upper surface and left surface; Robot right crus of diaphragm base plate appearance and size is identical with left foot, but the installation site is near the upper right corner, is that the installation site of benchmark correspondence is of a size of 80mm * 90mm with upper surface and left surface;

Fig. 8 is the sole installation diagram, wherein circle adopts matched in clearance in lower flange 4 cylindricals and the rubber pad ring 3, the cylindrical of rubber pad ring 3 and sole 2 installing holes adopt matched in clearance simultaneously, make the relative position of each parts of foot and sensor fix, and transmit uniformity to guarantee coordinate.For example cooperate aperture diameter with rubber pad ring 3 all be 50mm to flange 4, flange is a negative common difference, and rubber pad ring 3 is a plus tolerance, and it all is 60mm that while rubber pad ring 3 cylindricals cooperate the aperture with sole 2 installing holes, rubber pad ring 3 diameters are negative common difference, and sole 2 apertures are plus tolerance.Main damping effects that rise of rubber pad ring 3 wherein, the impulsive force when being used to reduce sole 2 and contacting with ground.Rubber pad ring 3 materials among the present invention are neoprene (diene) rubber, also can adopt the elastomeric material of similar machines characteristic.

Fig. 9 is the location schematic diagram of foot of anthropomorphic robot and ankle-joint, wherein transmit uniformity by a conical dowel pin 16 to guarantee each other coordinate between keyset 8 and the ankle-joint 15, thereby make the ZMP information pairing locus coordinate in the anthropomorphic robot walking process that detects and calculate by robot foot of the present invention and the one-to-one relationship of robotic joint space coordinate.

Figure 10 is the ZMP definition of a kinematic chain of foot of anthropomorphic robot, and each part is wherein represented the rigid model that anthropomorphic robot is simplified, and illustrated each rigid body label is followed successively by 1,2,3 ... n, m _iThe quality of representing i rigid body, a _iThe acceleration of representing i rigid body barycenter, a _iThe angular acceleration of i rigid body barycenter, I _iThe rotary inertia of i the relative barycenter of rigid body, the computational methods of concrete ZMP are as follows:

ZMP track computational methods, be to propose the ZMP notion according to the seventies Yugoslavia scholar Miomir Vukobratovich to set forth biped robot's gait stability problem, ZMP describes is a point on the supporting surface, and inertia force and gravity does not have component along the Z axle with joint efforts on this aspect.

For kinematic chain as shown in figure 10, the ZMP condition can be described as formula:

$\underset{i}{\mathrm{\Σ}}(r_i\×m_i{a}_i+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)-\underset{i}{\mathrm{\Σ}}{r}_i\×m_{i}g={(\mathrm{0,0},*)}^T---\left(1\right)$

Wherein: r _i=p _i-p _Zmp, p _i=(x, y, 0) is the contact point on whole kinematic chain and ground, p _Zmp=(x _Zmp, y _Zmp, 0) ^T

m _iAnd I _iBe respectively the quality and the rotary inertia of i kinematic chain;

ω _iAnd α _iBe respectively the angular speed and the angular acceleration of i kinematic chain;

G is an acceleration of gravity.

* represent some values, (0,0, *) ^TA kind of form of expression vector.

For the kinematic chain of Figure 10, at period of double support, left and right sides pin and ground all have point of contact, and by this point, there is synthetic reaction force (f on ground in the face of kinematic chain _LOr f _R) and the moment of reaction (n _LOr n _R), in fact the moment of reaction here is exactly the measured M of six-component force sensor _z(thereby 1) formula can be converted into:

$-\underset{i}{\mathrm{\Σ}}(r_i\×m_i(a_i-g)+I_i{\mathrm{\α}}_i+{\mathrm{\ω}}_i\×I_i{\mathrm{\ω}}_i)+r_L\×f_L+r_R\×f_R+n_L+n_R=0---\left(2\right)$

Wherein: r _L/R=p _L/R-p _Zmp=(*, *, 0) ^T, p _L/RThe contact point on foot and ground about being respectively; n _L/R=(0,0, *) ^T

So:

r _L×f _L+r _R×f _R+n _L+n _R＝(0，0，*) ^T (3)

The ZMP point calculates relevant with robot state of living in, and is as follows in the computing formula of single support phase and period of double support correspondence: single pin support phase, as shown in figure 11

Under single pin holding state, (3) formula is reduced to: and r * f+n=(0,0, *) ^T(4)

Wherein: r=(x-x _Zmp, y-y _Zmp, 0), f=(f _x, f _y, f _z), n=(0,0, *) ^THave:

$r\×f=\left[\begin{array}{ccc}i& j& k\\ {x-x}_{\mathrm{zmp}}& {y-y}_{\mathrm{zmp}}& 0\\ f_x& f_y& f_z\end{array}\right]=\left({y-y}_{\mathrm{zmp}}\right)f_{z}i-\left({x-x}_{\mathrm{zmp}}\right)f_{z}j+[\left({x-x}_{\mathrm{zmp}}\right)f_y-\left({y-y}_{\mathrm{zmp}}\right)f_x]k$

Can have by formula (4):

So, supporting the phase at single pin, actual ZMP point is exactly the contact point on single pin and ground.Double support phase, as shown in figure 12, the computing formula of ZMP is as follows:

Under double-legged holding state, left sufficient f _L=(f _Lx, f _Ly, f _Lz), in like manner, f _R=(f _Rx, f _Ry, f _Rz), in (3) formula, have:

$r_L\×f_L=\left[\begin{array}{ccc}i& j& k\\ x_L-x_{\mathrm{zmp}}& y_L-y_{\mathrm{zmp}}& 0\\ f_{\mathrm{Lx}}& f_{\mathrm{Ly}}& f_{\mathrm{Lz}}\end{array}\right]$

$=(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lz}}i-(x_L-x_{\mathrm{zmp}})f_{\mathrm{Lz}}j+[(x_L-x_{\mathrm{zmp}})f_{\mathrm{Ly}}-(y_L-y_{\mathrm{zmp}})f_{\mathrm{Lx}}]k$

In like manner:

r _R×f _R＝(y _R-y _zmp)f _Rzi-(x _R-x _zmp)f _Rzj+[(x _R-x _zmp)f _Ry-(y _R-y _zmp)f _Rx]k

Figure 11 is a foot of anthropomorphic robot list pin holding state, wherein illustrate the contact area on single holding state robot of diagrammatic representation and ground, corresponding single interim ZMP stability region of supporting in the polygon interval, the stability region of single support phase reality is sole version base surface area.

Figure 12 is foot of anthropomorphic robot both feet holding states, wherein illustrate the contact area on diagrammatic representation dual-gripper state machine people and ground, ZMP stability region in the corresponding period of double support in the polygon interval, different with single support phase is that the practical stability zone of period of double support is two robot foot negative zones and two polygonal regions that the sole Polygonal Boundary is formed.

Six-component force sensor proposed by the invention can adopt the branch body structure also can adopt integral structure to realize obtaining of three-axis force information and obtaining of three-axis force square information, when adopting the branch body structure, at first process upper diaphragm 10 with hard center, following diaphragm 14 and rood beam 12, be processed with the cross groove that matches with rood beam 12 in the heart in upper diaphragm 10 and following diaphragm 14 hard, rood beam adopts structural I-beam, the I-beam width of rood beam up and down is 5mm for 8mm thickness, mid portion thickness is 3mm, the diameter at corresponding hard center is 20mm, groove width is 2mm, in assembling process, beam and groove adopt welding method to be fixed together.

Fix in order to realize six-component force sensor and sole 2 and keyset 8 relative space position, circle adopts matched in clearance in lower flange 4 cylindricals and the rubber pad ring 3, the cylindrical of rubber pad ring and sole 2 installing holes adopt matched in clearance simultaneously, make the relative position of each parts of foot and sensor fix, transmit uniformity to guarantee coordinate.For example cooperate aperture diameter with rubber pad ring 3 all be 50mm to flange 4, flange is a negative common difference (0.015,0), and rubber pad ring is plus tolerance (0 ,+0.015), and while rubber pad ring cylindrical cooperates the aperture with the sole installing hole all be 60mm, the rubber pad ring diameter is a negative common difference (0.015,0), the sole aperture is plus tolerance (0 ,+0.015).

In order to realize circular iris 10 and following circular iris 14 plane parallel degree, and last circular iris (10) and the upper and lower surface of following circular iris 14 circular irises own will keep certain plane parallel degree, when Z is 120Kg to measuring range, X, when Y direction range is 60Kg, last circular iris thickness is 3.5mm, following circular iris thickness is 3.8mm, and circular iris plane parallel degree is 0.02mm.

Claims (5)

1, a kind of foot of anthropomorphic robot, comprise Rubber foot bottom (1), sole (2),, go up circular iris (10) in keyset (8) and the six-component force sensor (6), go up hard center (11), rood beam (12), hard center (13), circular iris (14) down down, it is characterized in that:

Rubber foot bottom (1) is installed in below the sole (2), between sole (2) and the lower flange (4) rubber pad ring (3) is installed, constitute a kind of impulsive force absorbing structure, rubber pad ring (3) embeds the following recess position that is installed in sole (2), to guarantee that rubber pad ring (3) cooperates and the end face cooperation with cylindrical between the sole (2), the bottom of lower flange (4) and rubber pad ring (3) inner ring secure fit, absorb the impulsive force that robot produces when pin lands in the process of walking, effect with mechanical LPF, alleviate and carry out the vibration that shank submissive when control produces, the installation site on the sole (2) is positioned at its inboard and departs from the center;

Lower flange (4) connects sole (2) and six-component force sensor (6), upper flange (7) connects six-component force sensor (6) and keyset (8), the sole (2) that rubber layer is installed directly contacts with ground, be used to support robot, keyset (8) links together with anthropomorphic robot ankle-joint (15), and signal processing circuit (5) is integrated in the inside of six-component force sensor (6);

There are six screwed holes to be used for realizing and being connected of six-component force sensor (6) on the described keyset (8), have four through holes to be used for and being connected of robot anklebone (15) in addition, keyset (8) and ankle-joint (15) guarantee the transmission of space coordinates by locating hole and alignment pin (16);

Described six-component force sensor (6)) adopts the two circular iris structures that have hard center, whole sensor is by last circular iris (10), go up hard center (11), rood beam (12), following hard center (13), following circular iris (14) mechanical connection constitutes, the own upper and lower surface of circular iris of last circular iris (10) and following circular iris (14) will keep certain plane parallel degree, the hard center (11) of upper diaphragm (10) and following diaphragm (14), (13), upper flange (7), lower flange (4) adopts axis hole to cooperate and installs, guarantee the transmission of coordinate system Z to axis, upper diaphragm (10), the circular iris of following diaphragm (14) and upper flange (7), lower flange (4) is gone up chiseling expression X, the mutually perpendicular reference mark line of Y direction is to guarantee X, the Y coordinate direction transmits uniformity;

Six-component force sensor (6) adopts when dividing body structure, and the hard center (11) of upper diaphragm (10) is processed with the cross groove that matches with rood beam (12) with the hard center (13) of following diaphragm (14); Rood beam (12) adopts structural I-beam, and beam is weldingly fixed on groove.

2, a kind of foot of anthropomorphic robot according to claim 1, wherein said rubber pad ring (3) material can be chloroprene rubber, also can adopt the elastomeric material of similar machines characteristic.

3, a kind of foot of anthropomorphic robot according to claim 1, wherein said signal processing circuit (5) is analog processing circuit and digital processing circuit, analog processing circuit and digital processing circuit can place six-component force sensor (6) inside simultaneously, also analog processing circuit can be placed six-component force sensor (6) inside, digital processing circuit is installed in the upper surface or instep (9) of sole (2).

4, a kind of foot of anthropomorphic robot according to claim 1, wherein said six-component force sensor (6) can adopt the branch body structure, also can adopt integral structure to realize obtaining of three-axis force information and obtaining of three-axis force square information.

5, a kind of a kind of foot of anthropomorphic robot as claimed in claim 1 is realized the method that strength of one's legs detects, and it is characterized in that:

Adopt the six-component force sensor (6) of two circular iris structures, strain force sensing resistance on last circular iris (10), following circular iris (14) and rood beam (12) is realized obtaining six component force information by different responsive bridge circuit arrangements, and obtain coupled relation between dimension by demarcation, six groups of bridge circuit output decouplings are handled, and realization three-dimensional force Fx, Fy, Fz and three-dimensional moment Mx, My, Mz information are independently obtained;

The origin of coordinates of described six-component force sensor (6) is defined as circular iris sensitive area center, wherein the circular iris axis direction be Z to, corresponding X, Y direction meet Ka Dier coordinate dextrorotation direction;

X, Y yawning moment information are obtained responsive bridge circuit and are adopted in the orthogonal layout in last circular iris (10) plane, and its force sensing resistance arranged direction is identical with following circular iris (14), wherein:

Resistance R1y, R2y, R3y, R4y are used for realizing the measurement to moment Mx on last circular iris (10) sensitive area;

Resistance R1x, R2x, R3x, R4x are used for realizing the measurement to moment My on last circular iris (10) sensitive area;

Resistance R 1, R2, R3, R4 on rood beam (12) sensitive area is used for realizing the measurement to moment Mz;

Two sensitive directions of following circular iris (14) and last circular iris (10) require to be consistent, X, Y direction force information obtain responsive bridge circuit and are realized by resistance R 1x, R2x, R3x, R4x and R1y, B2y, R3y, R4y, employing is orthogonal layout in following circular iris (14) plane, Z direction force information obtains sensitive resistance R1z, R2z, R3z, R4z are arranged in down circular iris (14) upper edge X, the crossing 45 degree directions of Y sensitive direction, wherein:

Resistance R1x, R2x, R3x, R4x are used for realizing the measurement to power Fx on following circular iris (14) sensitive area;

Resistance R1y, R2y, R3y, R4y are used for realizing the measurement to power Fy on following circular iris (14) sensitive area;

Resistance R1z, R2z, R3z, R4z are used for realizing the measurement to power Fz on following circular iris (14) sensitive area;

Resistance R 1z, the R2z, R3z, the R4z that wherein go up on circular iris (10) sensitive area can also provide one tunnel redundancy to power Fz measurement, are used for six-component force sensor (6) calibration;

Upper diaphragm (10) in the six-component force sensor (6), following circular iris (14) resistance location arrangements is: the R1x on the circular iris, R2x, R3x, R4x, R1y, R2y, R3y, R4y, R1z, R2z, R3z, totally 12 sensitive resistances of R4z pastes according to the position of predesignating, R1x wherein, R2x and R3x, R4x is arranged symmetrically on the straight line of directions X, R1y, R2y and R3y, R4y is arranged symmetrically on the straight line of Y direction, and R1z, R2z and R3z, R4z is arranged symmetrically in two straight lines of XY and intersects respectively on the straight line of 45 degree directions, and three straight lines are the center by circular film all;

R1x, R4x, R1y, R4y, R1z, R4z are arranged near circular iris cylindrical position, and R2x, R3x, R2y, R3y, R2z, R3z are arranged in the position near the hard center of circular iris;

Rood beam (12) strain resistor of six-component force sensor (6) is arranged: resistance R 1, R2, R3, R4 arrange according to diagonal positions, to guarantee the positive and negative direction symmetry of sensor; Other four resistance can be arranged in the two sides of same beam, also can be arranged on the different beams, and concrete paste position is near the root of rood beam;

Fix in order to realize six-component force sensor (6) and sole (2) and keyset (8) relative space position, circle adopts matched in clearance in lower flange (4) cylindrical and the rubber pad ring (3), the cylindrical of rubber pad ring (3) and sole (2) installing hole adopt matched in clearance simultaneously, make the relative position of each parts of foot and six-component force sensor (6) fix, to guarantee that coordinate transmits uniformity, it is 50mm that flange (4) cooperates aperture diameter with rubber pad ring (3), flange is a negative common difference, and rubber pad ring (3) is a plus tolerance, it is 60mm that while rubber pad ring (3) cylindrical cooperates the aperture with sole (2) installing hole, rubber pad ring (3) diameter is a negative common difference, and sole (2) aperture is a plus tolerance.

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