The invention relates to the technical field of humanoid robots, in particular to a humanoid robot humanoid sole and shank assembly which comprises a sole assembly, a shank assembly and a thigh assembly. The sole assembly comprises a sole, an inertial measurement unit mounted on the sole, a force sensor mounted above an arch of the sole and an adapter plate mounted on the force sensor; the shank assembly comprises a shank, a cross-shaped bearing, an ankle joint support and an ankle joint driving module, the ankle joint support is movably connected to the bottom of the shank through the cross-shaped bearing, the ankle joint support is fixedly installed on the top of the sole assembly, and the ankle joint driving module is installed on the shank and used for driving the ankle joint support to swing along double shafts of the cross-shaped bearing; the thigh assembly comprises a thigh and a knee joint driving module, and the thigh is rotationally connected to the top of the shank through the knee joint driving module. The performance of the humanoid robot in the aspects of movement flexibility, stability, load bearing capacity and complex ground adaptability is remarkably improved.
本发明涉及仿人机器人技术领域,具体为一种人形机器人仿人脚掌及小腿组件,包括脚掌组件、小腿组件和大腿组件:脚掌组件包括脚掌、安装脚掌上的惯性测量单元、安装脚掌足弓上方的力传感器、以及安装在力传感器上的转接板;小腿组件包括小腿、十字轴承、踝关节支架以及踝关节驱动模块,踝关节支架通过十字轴承活动连接在小腿的底部,踝关节支架固定安装在脚掌组件的顶部,踝关节驱动模块安装在小腿上,用于驱动踝关节支架沿着十字轴承的双轴摆动;大腿组件包括大腿以及膝关节驱动模块,大腿通过膝关节驱动模块转动连接在小腿的顶部。本发明显著提升了人形机器人在运动灵活性、稳定性、负重能力和复杂地面适应性方面的性能。
Humanoid sole and shank simulating assembly of humanoid robot
一种人形机器人仿人脚掌及小腿组件
2025-05-13
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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