CN217672922U - Walking foot and robot - Google Patents

Abstract

The embodiment of the application provides a walking foot, including foot and sensor, the foot includes the supporter, and the supporter encloses into interior appearance chamber, and the supporter has the inner wall and the outer wall that backs on the back with the inner wall, and the inner wall includes the diapire, and the outer wall has the surface of contacting to the ground that backs on the back with the diapire. The sensor comprises a first coupling device and a second coupling device which are mutually coupled, the first coupling device is arranged on the bottom wall, the second coupling device is arranged in the inner cavity, and when the ground contact surface is subjected to force variation, the bottom wall deforms, so that a coupling signal between the second coupling device and the first coupling device is changed. When the foot deforms, the bottom wall deforms, in the process, the first coupling device arranged on the bottom wall displaces, deforms and the like along with the bottom wall, so that a coupling signal formed by coupling between the second coupling device and the first coupling device changes, and the external force applied to the current foot can be accurately known based on the change. In addition, this application embodiment still provides a robot.

Description

Walking foot and robot

Technical Field

The application relates to the field of robots, in particular to walking feet and a robot.

Background

At present, the walking robot has been widely applied to the technical fields of carrying, stacking, geological exploration, archaeological study, agricultural planting, environmental investigation and the like due to the characteristics of high efficiency, high precision, high reliability, low energy consumption, low pollution, low error rate and the like. The walking robot has wheel type, crawler type and walking foot type, compared with the wheel type and crawler type robots, the walking foot type walking robot designed according to bionics has higher flexibility and environment adaptability, and can walk stably under load in rugged environment.

Some walking foot robots may also move along with soaring, jumping and the like during the movement process, and when the foot robots perform similar actions, the attitude control of the foot robots is extremely important. The external force applied to the foot robot in the process of grounding and bouncing needs to be accurately measured, and then the targeted posture compensation is performed, but the current external force measurement method for the walking foot of the foot robot is not accurate enough.

SUMMERY OF THE UTILITY MODEL

It is an object of the present application to provide a walking foot and a robot to at least partially ameliorate the above technical problems.

In a first aspect, an embodiment of the present application provides a walking foot, including foot and sensor, the foot is provided with interior appearance chamber, and the foot includes the supporter, and the supporter encloses into interior appearance chamber, and the supporter has inner wall and the outer wall that backs on the back with the inner wall, and the inner wall includes the diapire, and the outer wall has the surface of contacting to the ground that backs on the back with the diapire. The sensor comprises a first coupling device and a second coupling device which are coupled with each other, the first coupling device is arranged on the bottom wall, the second coupling device is arranged on the supporting body or in the inner cavity, and when the ground contact surface is stressed to change, the bottom wall deforms, so that a coupling signal between the second coupling device and the first coupling device changes.

In a second aspect, the embodiment of the present application further provides a robot, where the robot is provided with at least one walking foot as described above.

The walking foot that this application embodiment provided, in walking or jumping process, the surface of contacting to the ground of foot is with ground contact for the foot receives outside pressure, and the foot takes place deformation, and the diapire also takes place deformation thereupon, and at this in-process, the first coupling device that sets up in the diapire can be along with diapire emergence displacement, deformation etc. for the coupling signal that the coupling formed between second coupling device and the first coupling device changes, and based on this change, can know the external force that current foot received accurately.

The robot that this application embodiment provided, through using foretell walking foot, through the accurate measurement to the external force that the walking foot received, can be better carry out attitude compensation to the robot motion process, and then improve the stability of robot motion process.

These and other aspects of the present application will be more readily apparent from the following description of the embodiments.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present disclosure.

Fig. 2 is a partial structural schematic diagram of a walking foot in a robot provided in an embodiment of the present application.

Fig. 3 shows a graph of a mapping relationship.

Fig. 4 is a state diagram of the walking foot shown in fig. 2 during touchdown.

Fig. 5 is a partial structural schematic diagram of a walking foot in another robot provided in the embodiment of the present application.

Fig. 6 is a partial structural schematic diagram of a walking foot in another robot provided in the embodiment of the present application.

Fig. 7 is a state diagram of the walking foot shown in fig. 6 during touchdown.

Fig. 8 is a partial structural schematic diagram of a walking foot in another robot provided in the embodiment of the present application.

Fig. 9 is a state diagram of the walking foot shown in fig. 8 during touchdown.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The existing foot type walking robot is provided with an even number of pairs of walking feet. The walking foot type walking robot designed according to bionics has higher flexibility and environmental adaptability, and can walk stably under load in rugged environment. The existing walking foot type robot is influenced by terrain in the moving process, the robot can move along with soaring, jumping and the like, and when the movement is carried out, the stability control of the posture of the robot is required, so that the robot is prevented from turning over or overturning.

Therefore, in order to improve the stability of the attitude control of the robot, it is necessary to accurately measure the external force applied to each walking foot in real time, and further perform the attitude adjustment of each walking foot, the trunk, and the like of the robot according to the measured values. In the related art, the problem of inaccurate stress detection of the walking foot exists.

Based on this, the inventors of the present application have proposed a walking foot and a robot according to the embodiments of the present application in order to improve the above-described drawbacks. Embodiments of the present application are described in detail below with reference to the accompanying drawings.

Examples

Referring to fig. 1, the present embodiment provides a robot 10, where the robot 10 includes a trunk 20 and a plurality of walking feet 30, and various types of components can be disposed in the trunk 20 to perform predetermined functions. For example: torso 20 may be equipped with a camera and/or radar to provide visual perception to robot 10, and torso 20 may also be equipped with a carrying platform for carrying objects. Torso 20 may also be configured in an animal configuration, such as a dog, cat, spider, or the like.

A plurality of walking feet 30 are assembled on the trunk 20 and used for walking of the robot 10, it is understood that the number of the walking feet 30 is at least one, for example, the number of the walking feet 30 may be even, and the even number of the walking feet 30 may be distributed symmetrically, and particularly, as shown in fig. 1, the robot 10 has 4 walking feet 30 as an example, forming a four-footed robot 10, and the four-footed robot 10 is stable in structure and can be kept stable all the time during the walking process, which is very useful for various fields. Of course, it is understood that the robot 10 may also be a hexapod robot 10, an octapod robot 10, etc., and is not particularly limited herein.

Each walking foot 30 may have multiple degrees of freedom of movement and may include a telescoping degree of freedom and a rotational degree of freedom such that the walking foot 30 may be motion convertible in multiple directions, for example, each walking foot 30 may have 4 degrees of freedom, six degrees of freedom, or 9 degrees of freedom, etc., without limitation.

Referring to fig. 1 and 2 together, in the present embodiment, each walking foot 30 includes a foot 100 and a sensor. The foot 100 is used for touching the ground when the walking foot 30 walks, and the sensor is provided on the foot 100.

Foot 100 may be configured in a structure or shape suitable for walking, such as a horseshoe shape, a webbed foot shape, and the like. In this embodiment, the foot 100 is configured to be curved, and in this configuration, when the foot 100 contacts with the ground, the foot 100 is in linear contact, so that the contact area of the foot 100 when contacting with the ground can be reduced, and the foot 100 is provided with the inner cavity 101, that is, the foot 100 has a hollow portion to form the inner cavity 101. The inner cavity 101 may be configured in any shape, which is not limited herein.

The foot 100 can be made of a material with certain deformation capacity, so that on one hand, the foot can play a role in buffering in the advancing process, and the advancing stability of the robot 10 is improved; on the other hand, when the foot 100 is stressed, the force can be well transmitted into the inner cavity 101, so that the detection by the sensor is convenient. For example, the foot 100 may be made of elastic silicone, rubber, etc., and is not limited herein.

With continued reference to fig. 2, foot 100 includes a support body defining an interior chamber 101, the support body having opposing inner and outer walls, the inner wall facing interior chamber 101 and defining interior chamber 101. The inner wall includes a bottom wall 104, and the bottom wall 104 is located on a side of the inner cavity 101 near the ground during travel of the walking foot 30. It is understood that the bottom wall 104 may have a planar configuration or a curved configuration, which is not limited in this embodiment. The exterior wall of foot 100 has a ground-contacting surface 102 opposite bottom wall 104, ground-contacting surface 102 for contacting ground during travel of walking foot 30, it being understood that ground-contacting surface 102 may be either line-contacting or surface-contacting during ground contact. When the ground contact surface 102 contacts the ground, the foot 100 is subjected to the ground force, and due to the hollow containing cavity 101, the ground contact surface 102 and the bottom wall 104 of the foot 100 are deformed toward the containing cavity 101, and the force generated by the ground force on the foot 100 is transmitted into the containing cavity 101. The ground-contacting surface 102 may be a portion of the outer wall or may be the entire outer wall, without limitation.

In this embodiment, the inner wall further includes a top wall 105 and a side wall 106, the top wall 105 is disposed opposite to the bottom wall 104, the side wall 106 is connected between the top wall 105 and the bottom wall 104, and the inner cavity 101 is defined by the bottom wall 104, the top wall 105 and the side wall 106. In one way, the side wall 106 is formed in a ring shape, the side wall 106 includes a first end and a second end opposite to each other, the first end is connected to the top wall 105, the second end is connected to the bottom wall 104, and the inner diameter of the inner cavity 101 gradually increases and then gradually decreases from the first end to the second end (i.e., in the X direction in the figure).

The interior cavity 101 may be filled with a gas, such as air or an inert gas, so that the foot 100 maintains a filling state when no external force is applied, when the external force is applied to the ground contacting surface 102, the foot 100 is compressed, the gas filled in the interior cavity 101 is compressed, and when the external force applied to the ground contacting surface 102 is smaller than the pressure of the compressed gas, the compressed gas applies a force to the foot 100, so that the foot 100 gradually starts to recover its shape. Furthermore, chamber 101 may be a closed structure, i.e., the molar quantity of the gas filled in chamber 101 is kept constant and does not overflow, which facilitates better cushioning of foot 100 during touchdown. In other embodiments, the content chamber 101 may also be in communication with the outside, and the pressure within the content chamber 101 may be maintained during the foot deformation process.

The sensor 200 is disposed in the inner cavity 101, the sensor 200 includes a first coupling device 210 and a second coupling device 220 coupled to each other, the first coupling device 210 is disposed on the bottom wall 104, and the second coupling device 220 is disposed in the inner cavity 101. First coupling device 210 and second coupling device 220 may couple to each other and generate a coupling signal that is indicative of the strength of the coupling between first coupling device 210 and second coupling device 220 and also indicative of the state of first coupling device 210.

At some point, the bottom wall 104 deforms when the ground-contacting surface 102 is subjected to a force that changes relative to a previous point in time, and it will be appreciated that the deformation of the bottom wall 104 includes, but is not limited to, bending, twisting, or displacement of the bottom wall itself. In the process of deformation of the bottom wall 104, the first coupling element 210 disposed on the bottom wall 104 deforms along with the bottom wall 104, so that the coupling signal between the second coupling element 220 and the first coupling element 210 changes, and the current state of the first coupling element 210 can be determined according to the change of the coupling signal.

It will be appreciated that during the change in force applied to ground-contacting surface 102, bottom wall 104 deforms, including both the deformation of foot 100 caused by the external force applied to ground-contacting surface 102 and the deformation of bottom wall 104 caused by the pressure of the compressed gas in cavity 101 after the external force applied to ground-contacting surface 102 is removed, and that during this process, ground-contacting surface 102 is also subjected to the force generated by the compressed gas, and the force generated by the compressed gas changes as foot 100 recovers its shape.

In a more specific embodiment, the coupling signal between first coupling device 210 and second coupling device 220 varies as the separation between first coupling device 210 and second coupling device 220 varies. Thus, bottom wall 104 may be configured such that the spacing between first coupling means 210 and second coupling means 220 changes when bottom wall 104 is deformed. More specifically, as shown in fig. 2, the first coupling device 210 includes a first conductive plate 211, the first conductive plate 211 is disposed on the bottom wall 104, the second coupling device 220 includes a second conductive plate 221 and a detecting portion 222, the second conductive plate 221 and the first conductive plate 211 are disposed opposite to each other to form a capacitor, and the capacitor is connected to a circuit and electrically connected to a battery disposed in the robot 10. The detection unit 222 detects a capacitance value between the first conductive plate 211 and the second detection plate as a coupling signal. The second conductive plate 221 may be disposed on the top wall 105 and corresponds to the first conductive plate 211. This kind of arrangement can be widened first current conducting plate 211 and second current conducting plate 221's interval, increases the space that diapire 104 takes place the deformation, improves and detects the range, and then improves and detect the precision. In other embodiments, the second conductive plate 221 may also be disposed at other positions in the inner cavity 101, for example, a support is disposed in the inner cavity 101, and the second conductive plate 221 is disposed on the support and opposite to the first conductive plate 211.

It should be noted that, according to the capacitance formula:

where ε is a relative dielectric constant, S is a facing area of the first conductive plate 211 and the second conductive plate 221, k is an electrostatic force constant, and d is a distance between the first conductive plate 211 and the second conductive plate 221.

The capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221 is inversely related to the distance between the first conductive plate 211 and the second conductive plate 221, so that the mapping relationship between the capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221 and the distance between the first conductive plate 211 and the second conductive plate 221 can be calibrated in advance, and the mapping relationship can be stored locally in the robot 10 as a criterion for subsequently determining the distance between the first conductive plate 211 and the second conductive plate 221. Illustratively, fig. 3 illustrates a mapping diagram, in which an X-axis represents a distance between the first conductive plate 211 and the second conductive plate 221, and a Y-axis represents a capacitance value of a capacitor formed by the first conductive plate 211 and the second conductive plate 221. The slope of any point on the graph may also be indicative of the value of the external force currently being applied to ground-contacting surface 102.

The working principle of the walking foot 30 and the robot 1010 provided by the embodiment in the stress detection is as follows:

as shown in fig. 4, when the ground contact surface 102 contacts the ground (X in fig. 4 is the ground contact surface) or performs an emptying action, the ground contact surface 102 is stressed, the foot 100 deforms and deforms toward the inner cavity 101, the bottom wall 104 moves toward the top wall 105, the distance between the first conductive plate 211 and the second conductive plate 221 decreases, and the capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221 increases. When the ground contact surface 102 is separated from the ground, the ground contact surface 102 does not directly receive a force, and the compressed foot 100 recovers its deformation by the compressed gas inside and/or the material property of itself, and the distance between the first conductive plate 211 and the second conductive plate 221 is increased, so that the capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221 is decreased. The detection unit 222 obtains the capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221 in real time, and can determine the current position of the first conductive plate 211 in real time, and according to the variation trend of the position of the first conductive plate 211, the current motion state and stress state of the foot 100 can be determined, so as to dynamically compensate the posture of the robot 10, and improve the stability of the robot.

During the action of grounding, jumping, bouncing, etc. of the foot 100, it cannot be completely ensured that the force direction of the foot 100 is completely perpendicular to the ground, and therefore, when the bottom wall 104 deforms, the movement direction of the first conductive plate 211 may not be perpendicular to the first conductive plate 211, and at this time, the facing area of the first conductive plate 211 and the second conductive plate 221 changes, which affects the capacitance value of the capacitor formed by the first conductive plate 211 and the second conductive plate 221, so that the measurement error increases. Thus, in some embodiments, referring to fig. 5, the first conductive plate 211 may be configured as a curved plate that is adapted to the structure of the bottom wall 104, which is advantageous in that: when the power that the surface 102 received when touchdown was not located vertical direction, diapire 104 is at the emergence deformation in-process, first current conducting plate 211 not only moves towards the second deflector direction under the effect of diapire 104, can take place deformation towards the second deflector direction simultaneously, the curved plate body can be towards the deformation of plane plate body, make the equivalence of first current conducting plate 211 and second current conducting plate 221 just change the area hardly, get rid of the influence of electric capacity board area to the capacitance value, make the atress measurement to foot 100 more accurate. In addition, the first conductive plate 211 may be a planar plate with a larger area than the second conductive plate 221, and the first conductive plate 211 and the second conductive plate 221 may also keep a stable facing area, so as to eliminate the influence of the area of the capacitive plate on the capacitance value, and achieve the effect of measuring the stress on the foot 100 more accurately.

In other embodiments, the first coupling device 210 may also be a magnetic element, the second coupling device 220 may be a hall device, and when the distance between the first coupling device 210 and the second coupling device 220 changes, the magnetic field intensity distribution of the magnetic element changes, and the coupling signal generated by the second coupling device 220 changes accordingly. Based on the change of the coupling signal generated by the second coupling device 220, the stress process of the foot 100 is accurately analyzed, and then posture adjustment and compensation are realized. It is understood that the specific analysis process is similar to the foregoing, and reference is made to the foregoing, which is not repeated herein.

In another embodiment, the coupling signal between the first coupling element 210 and the second coupling element 220 may vary with the shape of the first coupling element 210, and therefore, the bottom wall 104 may be configured such that when the bottom wall 104 deforms, the shape of the first coupling element 210 changes, and when the ground contact surface 102 is subjected to a force, the bottom wall 104 deforms, changing the shape of the first coupling element 210, such that the coupling signal between the second coupling element 220 and the first coupling element 210 changes.

As a more specific example, as shown in fig. 6, the first coupling device 210 is a resistive sheet 212, more specifically a strain-type resistive sheet, and the resistive sheet 212 may be attached to the bottom wall 104. When the bottom wall 104 deforms, the strain-type resistance chip 212 also deforms correspondingly, and the resistance value changes under the change of the deformation quantity in the deformation process of the strain-type resistance chip 212, and the change quantity of the resistance value is positively correlated with the deformation quantity. Therefore, the mapping relationship between the resistance value of the resistive sheet 212 and the deformation amount of the resistive sheet 212 may be calibrated in advance, and the mapping relationship may be stored locally in the robot 10 as a criterion for determining the deformation amount of the resistive sheet 212 later. Further, the stress state of the current foot 100 can be known according to the deformation amount of the resistor disc 212.

The second coupling device 220 is used for detecting a resistance value of the first coupling device 210, wherein the sensor 200 further includes a circuit, the first coupling device 210 is connected to the circuit, the second coupling device 220 can obtain the resistance value of the first coupling device 210 in real time, and the first coupling device 210 and the second coupling device 220 form a strain gauge type pressure sensor 200.

The working principle of the walking foot 30 and the robot 1010 provided by the embodiment in the stress detection is as follows:

referring to fig. 7, when ground contact surface 102 contacts ground (X) or performs an emptying action, when ground contact surface 102 is stressed, foot 100 deforms and deforms toward inner cavity 101, bottom wall 104 moves toward top wall 105, and resistance card 212 is stressed to deform, and the resistance value of resistance card 212 changes. When the ground contact surface 102 is separated from the ground, the ground contact surface 102 does not receive any force, and the deformation of the compressed foot 100 is restored by the compressed gas inside and/or the material characteristics thereof, and the resistance sheet 212 is restored to the deformation and the resistance value is restored to the initial state. The second coupling device 220 obtains the resistance value of the resistor disc 212 in real time, and can therefore determine the current deformation state of the resistor disc 212 in real time, and according to the variation trend of the deformation state of the resistor disc 212, the current motion state and stress state of the foot 100 can be determined, so as to dynamically compensate the posture of the robot 10, and improve the stability of the robot.

In yet another more specific embodiment, referring to fig. 8, first coupling means 210 is strain gauge 213, strain gauge 213 is disposed in bottom wall 104, and second coupling means 220 is used to detect the load to which first coupling means 210 is subjected. First coupling device 210 and second coupling device 220 may form a load sensor 200. When the bottom wall 104 deforms, the stress value of the strain gauge 213 applied to the bottom wall 104 changes accordingly, and the amount of change in the stress value is positively correlated with the amount of deformation of the bottom wall 104. Therefore, the mapping relationship between the stress value of the strain gauge 213 and the deformation amount of the bottom wall 104 can be calibrated in advance, and the mapping relationship can be stored in the local area of the robot 10 as a subsequent judgment standard for the deformation amount of the bottom wall 104. Further, the force state of the current foot 100 can be known according to the deformation amount of the bottom wall 104.

The working principle of the walking foot 30 and the robot 1010 provided by the embodiment in the stress detection is as follows:

referring to fig. 9, when ground contact surface 102 contacts ground (X) or performs an emptying action, when ground contact surface 102 is stressed, foot 100 deforms and deforms toward inner cavity 101, bottom wall 104 deforms toward top wall 105, strain gauge 213 is stressed and changes, and strain gauge 213 receives a load from second coupling element 220. When ground contact surface 102 is separated from the ground, ground contact surface 102 does not receive any force, and the compressed foot 100 recovers its deformation by the compressed gas in the interior and/or the material characteristics thereof, and then bottom wall 104 recovers its deformation, and the load applied to strain gauge 213 returns to its initial state. The second coupling device 220 acquires the load borne by the strain gauge 213 in real time, and can therefore determine the current deformation state of the bottom wall 104 in real time, and according to the change trend of the deformation state of the bottom wall 104, the current motion state and stress state of the foot 100 can be determined, so as to dynamically compensate the posture of the robot 10, and improve the stability of the robot.

In order to enable the second coupling device 220 to more accurately obtain the load applied to the strain gauge 213, in an embodiment, please refer to fig. 8 again, the second coupling device 220 may include a mounting portion and a detecting portion 222, the mounting portion is disposed in the inner cavity 101, the mounting portion includes a housing 223, a detecting pin 225 and an elastic member 224, the housing 223 is fixedly connected to the top wall 105, one end of the detecting pin 225 is connected to the elastic member 224 and is disposed in a retractable manner relative to the housing 223, the other end of the detecting pin 225 abuts against the strain gauge 213, and the elastic force of the elastic member 224 enables the detecting pin 225 to always abut against the strain gauge 213. The housing 223 is further provided with a guiding mechanism for guiding the movement of the detection pin 225, specifically, the housing 223 is provided with a guiding hole, the detection pin 225 can slide at least partially extend into the guiding hole, and the elastic member 224 is located in the guiding hole and abuts against the detection pin 225. Of course, the guide mechanism may be provided in other forms, such as guiding by a chute or the like.

When the bottom wall 104 deforms, the strain gauge 213 is stressed and compresses the detection needle 225, so that the detection needle 225 displaces, the detection portion 222 achieves the purpose of detecting the load of the strain gauge 213 by detecting the displacement of the detection needle 225, when the bottom wall 104 recovers to deform, the load borne by the strain gauge 213 returns to the initial state, and the detection needle 225 returns to the initial position under the driving of the elastic member 224. According to the embodiment, the load detection is realized through the displacement detection, and the detection result is more accurate. In other embodiments, the second coupling device 220 may be integrally disposed with the strain gauge 213, and is not limited herein.

The walking foot 30 and the robot 10 provided by the embodiment can realize accurate detection of the stress state of the foot 100, and further based on the detection result, the robot 10 is more reasonably assisted to complete posture adjustment through a corresponding algorithm, so that the balance of the robot 10 in the motion process is better, and the walking is more stable.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A walking foot, for application to a robot, the walking foot comprising:

the foot comprises a support body, the support body encloses an inner cavity, the support body is provided with an inner wall and an outer wall opposite to the inner wall, the inner wall comprises a bottom wall, and the outer wall is provided with a ground contact surface opposite to the bottom wall;

the sensor comprises a first coupling device and a second coupling device which are coupled with each other, the first coupling device is arranged on the bottom wall, the second coupling device is arranged on the supporting body or in the inner cavity, and when the ground contact surface is subjected to a force change, the bottom wall deforms, so that a coupling signal between the second coupling device and the first coupling device changes.

2. The walking foot of claim 1, wherein the bottom wall deforms when the ground-contacting surface is subjected to a change in force to change the separation of the first coupling element from the second coupling element such that the coupling signal between the second coupling element and the first coupling element changes.

3. The walking foot according to claim 2, wherein the first coupling device comprises a first conductive plate disposed on the bottom wall, the second coupling device comprises a second conductive plate disposed opposite to the first conductive plate to form a capacitor, and a detection portion for detecting a capacitance value between the first conductive plate and the second conductive plate as the coupling signal.

4. The walking foot of claim 3, wherein the inner wall further comprises a top wall opposite the bottom wall, the second coupling device being disposed on the top wall.

5. The walking foot of claim 3, wherein the first conductive plate is configured as a curved plate body.

6. The walking foot of claim 1, wherein the bottom wall deforms to change the shape of the first coupling element when the ground-contacting surface is subjected to a change in force to cause a change in the coupling signal between the second coupling element and the first coupling element.

7. The walking foot of claim 6, wherein the first coupling device is a resistive sheet and the second coupling device is configured to detect a resistance value of the first coupling device.

8. The walking foot of claim 6, wherein the first coupling means is a strain gauge and the second coupling means is configured to detect a load to which the first coupling means is subjected.

9. The walking foot according to claim 8, characterized in that the second coupling means comprises a mounting portion and a detection portion, the mounting portion comprises a housing, an elastic member and a detection pin, the elastic member is arranged in the housing, one end of the detection pin is connected with the elastic member, and the other end abuts against the strain gauge.

10. A robot, characterized in that it is provided with at least one walking foot according to any of claims 1-9.

Images