The invention relates to the technical field of robots, in particular to a foot sensing structure, a foot structure and a humanoid robot, and solves the problem that the control capability is poor when the robot walks or executes high-difficulty actions on complex terrains due to the fact that the detection precision of the stress condition of soles is poor. The foot sensing structure comprises a strain layer and at least four sets of sensor assemblies, the at least four sets of sensor assemblies are arranged on the toe left portion, the toe right portion, the heel left portion and the heel right portion respectively, so that stress detection is conducted on all parts of the foot, the toe portion is divided into the toe left portion and the toe right portion through a first partition groove of the toe portion, and the toe portion is divided into the toe left portion and the toe right portion through a second partition groove of the toe portion. The heel part is divided into a heel left part and a heel right part by the second partition groove of the heel part, so that the mutual influence on the stress detection of the toe left part, the toe right part, the heel left part and the heel right part is reduced, and the detection precision of the stress condition of the foot is improved; therefore, the control capability of the robot when walking on a complex terrain or executing high-difficulty actions is improved.

    本申请涉及机器人技术领域,具体涉及一种足部传感结构、足部结构和人形机器人,解决了由于对足底的受力情况的检测精度较差,导致机器人在复杂地形行走或执行高难度动作时控制能力较差的问题。该足部传感结构包括应变层和至少四组传感器组件,至少四组传感器组件分别设置于足尖左部、足尖右部、足跟左部和足跟右部,从而分别对足部的各个部分进行受力检测,并且足尖部的第一分区槽将足尖部分割为足尖左部和足尖右部,足跟部的第二分区槽将足跟部分割为足跟左部和足跟右部,从而降低对足尖左部、足尖右部、足跟左部和足跟右部的受力检测互相影响,提高了对足部的受力情况的检测精度,从而提高机器人在复杂地形行走或执行高难度动作时的控制能力。


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    Title :

    Foot sensing structure, foot structure and humanoid robot


    Additional title:

    足部传感结构、足部结构和人形机器人


    Publication date :

    2024-07-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B25J Manipulatoren , MANIPULATORS / G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE



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