CN102180206B - Robot foot mechanism with flexible joint - Google Patents
Robot foot mechanism with flexible joint Download PDFInfo
- Publication number
- CN102180206B CN102180206B CN2011101023562A CN201110102356A CN102180206B CN 102180206 B CN102180206 B CN 102180206B CN 2011101023562 A CN2011101023562 A CN 2011101023562A CN 201110102356 A CN201110102356 A CN 201110102356A CN 102180206 B CN102180206 B CN 102180206B
- Authority
- CN
- China
- Prior art keywords
- plate
- heel
- plates
- sole
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 12
- 210000002683 foot Anatomy 0.000 claims abstract description 36
- 210000003423 ankle Anatomy 0.000 claims abstract description 9
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000035939 shock Effects 0.000 claims description 38
- 238000010521 absorption reaction Methods 0.000 claims description 34
- 238000013016 damping Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000004033 plastic Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 4
- 210000003371 toe Anatomy 0.000 abstract 4
- 230000005021 gait Effects 0.000 description 8
- 239000003292 glue Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000239290 Araneae Species 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000000544 articulatio talocruralis Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 101000966403 Homo sapiens Dynein light chain 1, cytoplasmic Proteins 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003042 antagnostic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 102000047519 human DYNLL1 Human genes 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a robot foot mechanism with flexible joints. The existing robot has poor foot impact adsorbing effect. The robot foot mechanism comprises toe plates, heel plates, sole plates, flexible hinges, spring plates, heel vibration attenuation devices, a six-dimensional force moment sensing device and an ankle support seat, wherein the toe plates and the sole plates are connected by the flexible hinges; the sole plates are connected with the heel plates by the spring plates; the bottom surfaces of the toe plates, the sole plates and the heel plates are provided with rubber layers; the flexible hinges, the spring plates and the vibration attenuation devices are all symmetrically arranged along the proceeding direction; each flexible hinge is formed by connecting two flexibly deformed rectangular rings and is formed by cutting and processing the whole line; each rectangular ring is provided with a groove vertical to the proceeding direction for adsorbing deformation; and the thickness of the middle of the spring plates is less than the thickness of two ends. In the robot foot mechanism, a humanoid robot can walk more stably by increasing the degree of freedom of passive toes, and the tread of the humanoid robot is more stable and natural.
Description
Technical field
The invention belongs to the Robotics field, relate to a kind of robot foot portion mechanism with flexible joint.
Background technology
Anthropomorphic robot is and the immediate a kind of robot of the mankind that its biggest characteristic can be walked as the mankind exactly.Have people's profile, and have locomotive function, operating function, associative memory, learning ability, emotion communication, sociability and have the part human experience near people's intelligent robot.With respect to wheeled or caterpillar type robot; Anthropomorphic robot has running gear flexibly; Can walk by biped; This has just determined its unrivaled at work preceence: alerting ability is good, working space is wide, move that " blind area " is little, power consumption is little, make things convenient for up/down steps, obstacle go beyond ability higher, can adapt to this ground, therefore, anthropomorphic robot has more vast potential for future development.
The gordian technique of anthropomorphic robot is a traveling gear, and the alerting ability of the speed of its walking, stability, gait directly influences its working ability and efficient.In the process of walking, when foot contacts with ground, produce and impact, impact the trunk that is sent to anthropomorphic robot through ankle-joint; Because this impact, the dynamical equilibrium of anthropomorphic robot can be interfered, and causes the instability of gait; And can cause damage to parts such as the accurate speed reduction gearing of in-to-in, servomotor, sophisticated sensors; Limited the walking speed of robot, the continuity of walking step state causes the robot lack of equilibrium; Influence control stiffness etc., so when the foot mechanism of design anthropomorphic robot, need consider to absorb the problem of impact.
In order to address the above problem, developed the multiple robot foot portion mechanism that during walking, can absorb impact at present.
Chinese patent CN101108146A, a kind of foot of anthropomorphic robot, this structure comprises sole, Rubber foot bottom, six-dimension force sensor, signal handling equipment, tactile array pad, instep, obliquity sensor, upper flange, lower flange.This robot foot seems that more the Rubber foot bottom has suitable elasticity near human pin, and lower surface has anti-slip tank, can absorb impulsive force by actv..In the process of walking; Obliquity sensor detects the angle of inclination information of sole, and six-dimension force sensor detects ground reaction force information, and the tactile array pad obtains the information of pin and ground-surface contact condition and contact position; Signal handling equipment is gathered the information of these sensors in real time and it is carried out comprehensive treatment; Calculate the ZMP track, the gait of planning robot's walking, the stability of raising gait.Ability itself that have only less absorption to impact, key are that this has increased the difficulty of control through gait planning change walking states.This invention mainly is the impulsive force when relying on Rubber foot bottom absorption pin to land, and the effect of impact absorption is very limited.
Chinese patent CN101402380A, a kind of humanoid robot foot section impact absorption mechanism, this scheme comprises sole; Shock structure, top board, upper cover plate; Adjusting disk, instep shell, six-dimension force sensor; Slipmat, and the front-end and back-end of sole all are designed to the inclined-plane, the walking manner of help realizing heelstrike, tiptoe is liftoff.Shock structure is arranged in the middle of sole and the top board, and upper cover plate links to each other through adjusting disk also sole, and six-dimension force sensor links to each other with the shank of anthropomorphic robot.When Humanoid Robot Based on Walking; Slipmat contacts with ground, directly receives ground-surface antagonistic force, and power is passed to shock structure through sole; The shock structure actv. absorbs this impulsive force, and can change the thrust of shock structure through the thickness of regulating adjusting disk.The device for impact absorbing of this type has drawback, when vibration is applied to heel or the toe place of robot, can not weaken the vibration that is produced by actv..
Summary of the invention
The objective of the invention is weak point, a kind of robot foot portion mechanism with flexible joint is provided to anthropomorphic robot foot mechanism in the above-mentioned prior art.
The technical scheme that technical solution problem of the present invention is taked is following:
The present invention includes the front along the heel plate of the toe plate of K/UP, back edge K/UP, be arranged on sole plate, flexible hinge, spring plate, heel shock attenuation unit, sextuple power moment sensor and ankle support seat between toe plate and the heel plate.
Described toe plate is connected through flexible hinge with the sole plate, and the sole plate is connected through spring plate with the heel plate;
Also be provided with rubber layer on described toe plate, sole plate and the heel plate bottom surface.
Described flexible hinge, spring plate and shock attenuation unit all follow into, and direction is symmetrical set.
But described flexible hinge composes in parallel for the cylindrical ring by two plastic deformations, and this flexible hinge is formed by the overall wire cutting processing, and each cylindrical ring has the groove vertical with direct of travel, is used for absorbing distortion.
Thickness in the middle of the described spring plate is less than the thickness at two ends, and material is 50Crva.
Described heel shock absorption device comprises damping shock absorption device bearing, damping shock absorption device, transmission triangle bearing, transmission trigonometric sum bearing.Damping shock absorption device bearing is positioned at the sole front edge of board; One end of damping shock absorption device is captiveed joint with damping shock absorption device bearing; The other end flexibly connects through an angle of first bearing pin and transmission triangle; The transmission triangle bearing that is positioned on the spring plate of sole plate rear end flexibly connects through second bearing pin another angle with the transmission triangle, and bearing is through the 3rd angle flexible connection of croisillon de joint homocinetique and transmission triangle, and described bearing contacts with spring plate on being positioned at the heel plate.Shock absorption device is installed on the sole plate.
Described sextuple power moment sensor comprises sextuple power torque sensor, sextuple power moment seat, surge arrester, energy disperser, buffer gasket and guide collar.Sextuple power moment sensor is installed on the sole plate, above the sextuple power torque sensor ankle support seat is installed, and sextuple power moment seat is installed below the sextuple power torque sensor.Sextuple power moment seat is connected with buffer gasket with energy disperser through surge arrester, and described buffer gasket and sole plate mechanical connection are provided with guide collar between described sextuple power moment seat and the sole plate.
The present invention has following beneficial effect with respect to prior art: the present invention makes the walking of anthropomorphic robot more stable through increasing passive toe degree of freedom, the steady more and nature of gait.Toe adopts elastic element to connect, and is easily manufactured, and cost-cutting improves performance; During starting, elastic element (flexible hinge) bends on the pitch axis direction, is equivalent to spring, at this moment storage elasticity potential energy; In the process that pin lifts, the elastic element releasable energy plays purpose of energy saving.Heel adopts the mode of elastic element+damper, when heelstrike, absorbs through the damping shock absorption device that consuming lands impacts the energy that produces, and it is more steady to be that robot lands.
Description of drawings
Fig. 1 is an overall construction drawing of the present invention;
Fig. 2 is the foot structure cutaway view;
Fig. 3 is the foot structure lateral plan;
Fig. 4 is the flexible hinge constructional drawing;
Fig. 5 is the spring plate constructional drawing;
In the accompanying drawing: 1 sole, 2 Rubber foot bottoms, 3 guide collar, 4 buffer gaskets, 5 flexible hinges, 6 surge arresters, 7 ankle support seats, 8 sextuple power moment seats, 9 sextuple power torque sensors, 10 energy dispersers, 11 transmission triangles, 12 transmission triangle bearings, 13 bearings, 14 spring plates, 15 damping shock absorption devices, 16 damping shock absorption device bearings, 1a heel plate, 1b sole plate, 1c toe plate, 2a heel Rubber foot bottom, 2b sole Rubber foot bottom, 2c toe Rubber foot bottom.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is described further.
As shown in Figure 1, the present invention includes the front along the heel plate 1a of the toe plate 1c of K/UP, back edge K/UP, be arranged on sole plate 1b, flexible hinge 5, spring plate 14, heel shock absorption device (13 bearings, 14 spring plates, 15 damping shock absorption devices), sextuple Force sensor (8 sextuple power moment seats, 9 sextuple power torque sensors) and ankle support seat 7 between toe plate 1c and the heel plate 1a.
Described toe plate 1c is connected through flexible hinge 5 with sole plate 1b, and sole plate 1b is connected through spring plate 14 with heel plate 1a;
Described sextuple power moment device is placed on the sole plate 1b, is positioned on the sole plate 1b of sextuple power moment sensor both sides the heel shock attenuation unit is housed, and ankle support seat 7 is equipped with at the top of sextuple power moment sensor.
As shown in Figure 2, be connected with ankle support seat 7 above the sextuple power torque sensor 9, pass through the screw mechanical connection with sextuple power moment seat 8 below.Sextuple power moment seat 8 is connected with energy disperser 10 with surge arrester 6, and surge arrester 6 is connected with sole plate 1b through screw with energy disperser 10, and and sole plate 1b between buffer gasket 4 is installed, be provided with guiding collar 3 between sextuple power moment seat 8 and the sole plate 1b.The ground reaction force information of sextuple power torque sensor 9 when the monitoring robot pin contacts with the road surface in real time; ZMP position when this information is used for the computing machine person walks; The position of judging ZMP and provides foundation for next step gait planning of robot whether in stable zone.
Described flexible hinge 5, spring plate 14 and heel shock absorption device (13 bearings, 14 spring plates, 15 damping shock absorption devices) all follow into, and direction is symmetrical set.
Described shock attenuation unit is as shown in Figure 3, comprises damping shock absorption device bearing 16, damping shock absorption device 15, transmission triangle bearing 12, transmission triangle 11 and bearing 13.Damping shock absorption device bearing 16 is positioned at sole plate 1b front end; One end of damping shock absorption device 15 is captiveed joint with damping shock absorption device bearing 16; The other end flexibly connects through an angle of first bearing pin and transmission spider 11; Be positioned at transmission triangle bearing 12 on the spring plate 14 of sole plate 1b rear end through another angle flexible connection of second bearing pin with transmission spider 11; Bearing 13 is through croisillon de joint homocinetique another angle flexible connection with transmission spider 11, and described bearing 13 contacts with spring plate 14 on being positioned at heel plate 1b.
Described flexible hinge 5 is as shown in Figure 4, and for being composed in parallel by two cylindrical rings, this flexible hinge overall wire cutting processing forms, and the end face of each cylindrical ring has the groove vertical with direct of travel with the bottom surface symmetry, is used for absorbing and is out of shape.Flexible hinge 5 one ends and sole plate 1b are through the screw mechanical connection, and an end and toe plate 1c are through the screw mechanical connection.When on uneven road surface, walking, toe plate can be rotated on pitch orientation through flexible hinge, also can rotate around rotating direction.Putting down the walking manner that lands to present anthropomorphic robot sole, uneven or when little obstacle is arranged when ground, insensitive to ground, with respect to active toe degree of freedom, can simplify ROBOT CONTROL and stablize robot's gait.During starting, the large deformation flexible hinge is equivalent to spring, can storage elasticity potential energy, when pin lifts, can release energy, and play purpose of energy saving.
Described spring plate 14 is as shown in Figure 5, is flat H type, and two ends are thick, and intermediate thin is formed by the line cutting processing, produces large deformation under the middle thin plate at both ends strained condition, thereby reaches heel damping purpose.
Also be provided with rubber layer on described toe plate 1c, sole plate 1b and the heel plate 1a bottom surface.Heel plate 1a is connected with glue with heel Rubber foot bottom 2a, and sole plate 1b is connected with glue with sole Rubber foot bottom 2b, and toe plate 1c is connected with glue with toe Rubber foot bottom 2c, and the shape of Rubber foot bottom 2 is consistent with the bottom shape of sole 1.Rubber foot bottom 2 has good elasticity, directly contacts with ground, when the pin of robot lands, plays preliminary buffer shock-absorbing effect.
Sole 1 among the present invention is to be made up of heel 1a, sole plate 1b, toe plate 1c three parts, and Rubber foot bottom 2 comprises heel Rubber foot bottom 2a, sole Rubber foot bottom 2b and toe Rubber foot bottom 2c.Be connected with Rubber foot bottom 2 usefulness glue below the sole 1; The shape of Rubber foot bottom 2 is identical with the shape of sole 1; That the material of Rubber foot bottom 2 adopts is the LP-13 Shake Absorber Vibration Isolation Pads of U.S. KELLETT company, has good absorption cushioning effect, and a mechanical energy part that produces in the time of can pin being landed converts heat energy to; Prevent to vibrate butt contact and exert an influence, play certain buffer action.Toe plate 1c and heel 1a are provided with corresponding radian respectively, when pin lands or liftoff, perhaps ground not at ordinary times, sole can keep suitable with ground and contact and reduced the suffered impulsive force of ankle-joint.
More than through with reference in the accompanying drawings the expression exemplary embodiment the present invention has been done special displaying and explanation; To one skilled in the art; Should be understood that the various modifications and the change that are made under thought of the present invention and the scope on formal and the details not deviating from.So real thought and scope that the present invention will protect are limited appending claims.
Claims (1)
1. robot foot portion mechanism with flexible joint; Comprise the front along the heel plate of the toe plate of K/UP, back edge K/UP, be arranged on sole plate, flexible hinge, spring plate, heel shock absorption device, sextuple power moment sensor and ankle support seat between toe plate and the heel plate, it is characterized in that:
Described toe plate is connected through flexible hinge with the sole plate, and the sole plate is connected through spring plate with the heel plate;
Also be provided with rubber layer on described toe plate, sole plate and the heel plate bottom surface;
Described flexible hinge, spring plate and heel shock absorption device all follow into, and direction is symmetrical set;
But described flexible hinge composes in parallel for the cylindrical ring by two plastic deformations, and this flexible hinge is formed by the overall wire cutting processing, and each cylindrical ring has the groove vertical with direct of travel, is used for absorbing distortion;
Thickness in the middle of the described spring plate is less than the thickness at two ends;
Described heel shock absorption device comprises damping shock absorption device bearing, damping shock absorption device, transmission triangle bearing, transmission trigonometric sum bearing; Damping shock absorption device bearing is positioned at the sole front edge of board; One end of damping shock absorption device is captiveed joint with damping shock absorption device bearing; The other end flexibly connects through an angle of first bearing pin and transmission triangle; Be positioned at transmission triangle bearing on the spring plate of sole plate rear end through another angle flexible connection of second bearing pin with the transmission triangle; Bearing is through the 3rd angle flexible connection of croisillon de joint homocinetique and transmission triangle, and described bearing contacts with spring plate on being positioned at the heel plate, and the heel shock absorption device is installed on the sole plate;
Described sextuple power moment sensor comprises sextuple power torque sensor, sextuple power moment seat, surge arrester, energy disperser, buffer gasket and guide collar; Sextuple power moment sensor is installed on the sole plate, above the sextuple power torque sensor ankle support seat is installed, and sextuple power moment seat is installed below the sextuple power torque sensor; Sextuple power moment seat is connected with buffer gasket with energy disperser through surge arrester, and described buffer gasket and sole plate mechanical connection are provided with guide collar between described sextuple power moment seat and the sole plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101023562A CN102180206B (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101023562A CN102180206B (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102180206A CN102180206A (en) | 2011-09-14 |
| CN102180206B true CN102180206B (en) | 2012-07-04 |
Family
ID=44566543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011101023562A Expired - Fee Related CN102180206B (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102180206B (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102514649A (en) * | 2011-12-29 | 2012-06-27 | 北京航空航天大学 | Humanoid robot foot plate mechanism with multiple degrees of freedom |
| CN102700648B (en) * | 2012-06-14 | 2013-11-27 | 西北工业大学 | Adaptive deformation foot of kangaroo-simulated hopping robot |
| CN102730095B (en) * | 2012-06-18 | 2014-03-05 | 杭州电子科技大学 | Flexibly landed foot mechanism of humanoid robot |
| CN103659409B (en) * | 2013-12-16 | 2018-01-02 | 上海电气集团股份有限公司 | A kind of Lead screw transmission structure for improving transmission accuracy |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
| CN104890758A (en) * | 2015-06-30 | 2015-09-09 | 湖州市千金宝云机械铸件有限公司 | Walking robot foot unit |
| CN106403866A (en) * | 2015-07-31 | 2017-02-15 | 北京航天计量测试技术研究所 | Installation clamp applicable to linear displacement sensor assembly without installing holes |
| CN105292297B (en) * | 2015-11-21 | 2017-05-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105730548A (en) * | 2016-02-19 | 2016-07-06 | 常州大学 | Vibration-reduction series-connection four-degree-of-freedom humanoid mechanical foot |
| CN106333829B (en) * | 2016-09-20 | 2021-01-08 | 合肥工业大学 | Exoskeleton type multi-degree-of-freedom lower limb rehabilitation assistance mechanism |
| CN106313103A (en) * | 2016-10-21 | 2017-01-11 | 上海未来伙伴机器人有限公司 | Joint connection structure for humanoid robot |
| CN107187512A (en) * | 2017-05-31 | 2017-09-22 | 地壳机器人科技有限公司 | Human-imitating double-foot walking robot |
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN109223440A (en) * | 2018-09-11 | 2019-01-18 | 佳木斯大学 | A kind of parallel institution ankle device for rehabilitation |
| CN109292021B (en) * | 2018-10-09 | 2020-06-23 | 北京理工大学 | Bionic foot with variable-rigidity toe and heel joints |
| CN110181552B (en) * | 2019-04-23 | 2020-02-14 | 郑州轻工业学院 | Flexible joint of robot |
| CN110116423B (en) * | 2019-06-19 | 2024-02-27 | 重庆大学 | Transmission shaft protection device, walking robot joint structure and walking robot |
| CN114013532A (en) * | 2021-12-09 | 2022-02-08 | 之江实验室 | Integrated ankle foot system for improving walking stability of biped robot |
| CN114435505B (en) * | 2021-12-21 | 2023-05-02 | 之江实验室 | Robot flexible foot |
| CN114506401B (en) * | 2022-04-20 | 2022-09-09 | 之江实验室 | Humanoid robot with variable length and vibration reduction foot thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421426A (en) * | 1992-11-05 | 1995-06-06 | Commissariat A L'energie Atomique | Walking robot foot |
| CN101108146A (en) * | 2007-08-20 | 2008-01-23 | 中国科学院合肥物质科学研究院 | Foot of anthropomorphic robot |
| CN101402380A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Humanoid robot foot section impact absorption mechanism |
| CN201670291U (en) * | 2010-05-11 | 2010-12-15 | 浙江大学 | Flexible foot mechanism of humanoid robot |
| CN201980318U (en) * | 2011-04-24 | 2011-09-21 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4078857B2 (en) * | 2002-03-15 | 2008-04-23 | ソニー株式会社 | Legs of legged mobile robot and legged mobile robot |
-
2011
- 2011-04-24 CN CN2011101023562A patent/CN102180206B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5421426A (en) * | 1992-11-05 | 1995-06-06 | Commissariat A L'energie Atomique | Walking robot foot |
| CN101108146A (en) * | 2007-08-20 | 2008-01-23 | 中国科学院合肥物质科学研究院 | Foot of anthropomorphic robot |
| CN101402380A (en) * | 2008-10-20 | 2009-04-08 | 北京理工大学 | Humanoid robot foot section impact absorption mechanism |
| CN201670291U (en) * | 2010-05-11 | 2010-12-15 | 浙江大学 | Flexible foot mechanism of humanoid robot |
| CN201980318U (en) * | 2011-04-24 | 2011-09-21 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2003-266362A 2003.09.24 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102180206A (en) | 2011-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102180206B (en) | Robot foot mechanism with flexible joint | |
| CN201980318U (en) | Robot foot mechanism with flexible joint | |
| CN203946189U (en) | A kind of foot module for walking robot | |
| CN102730095B (en) | Flexibly landed foot mechanism of humanoid robot | |
| CN107140052B (en) | A kind of wheel leg type hexapod robot with suspension | |
| CN103057620B (en) | A kind of humanoid robot foot section structure based on modular array sensor | |
| CN107521573A (en) | A kind of damping crawler-type unmanned mobile platform | |
| KR100843863B1 (en) | Legged mobile robot and control method thereof, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot | |
| CN104802876B (en) | A kind of bionical foot of anthropomorphic robot | |
| CN109606500B (en) | Run and jump biped robot ankle foot mechanism | |
| CN104097706B (en) | Mecanum wheel driving type movable spherical robot | |
| CN109262595B (en) | Segmented foot structure of lower limb assistance exoskeleton | |
| CN106741284B (en) | A kind of Hexapod Robot and its method of work based on parallel institution | |
| CN100548242C (en) | A kind of foot of anthropomorphic robot | |
| CN103481964A (en) | Six-leg walking robot capable of crossing obstacles | |
| KR20040094283A (en) | Leg device for leg type movable robot, and method of controlling leg type movable robot | |
| CN109850025B (en) | Single-leg robot mechanism for wall surface jumping and control method | |
| CN103481963A (en) | Two-stage buffer foot device applicable to obstacle crossing robot | |
| CN206107385U (en) | Crawler -type removes chassis shock attenuation running gear | |
| CN100593001C (en) | Foot shock absorption mechanims of human imitating robot | |
| CN202624435U (en) | Flexible-landing humanoid robot foot mechanism | |
| CN108454718A (en) | A kind of passive adaptive robot of crawler type | |
| CN104401416B (en) | Coupled Rigid-flexible cushions bionical foot | |
| CN110562346A (en) | Novel structure four-footed hydraulic robot | |
| CN102514649A (en) | Humanoid robot foot plate mechanism with multiple degrees of freedom |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: HAIAN SERVICE CENTER FOR TRANSFORMATION OF SCIENTI Free format text: FORMER OWNER: HANGZHOU ELECTRONIC SCIENCE AND TECHNOLOGY UNIV Effective date: 20131217 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 310018 HANGZHOU, ZHEJIANG PROVINCE TO: 226600 NANTONG, JIANGSU PROVINCE |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20131217 Address after: 226600 No. 106 middle Yangtze Road, Haian County, Nantong, Jiangsu Patentee after: SERVICE CENTER OF COMMERCIALIZATION OF RESEARCH FINDINGS, HAIAN COUNTY Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Patentee before: HANGZHOU DIANZI University |
|
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20110914 Assignee: NANTONG CHANG RONG MECHANICAL AND ELECTRICAL Co.,Ltd. Assignor: SERVICE CENTER OF COMMERCIALIZATION OF RESEARCH FINDINGS, HAIAN COUNTY Contract record no.: 2015320000334 Denomination of invention: Robot foot mechanism with flexible joint Granted publication date: 20120704 License type: Exclusive License Record date: 20150515 |
|
| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220325 Address after: 226600 group 9, Guanghua village, Hai'an high tech Zone, Nantong City, Jiangsu Province Patentee after: Xiaoka Sports Technology (Nantong) Co.,Ltd. Address before: 226600 No. 106, Changjiang Middle Road, Hai'an County, Nantong City, Jiangsu Province Patentee before: SERVICE CENTER OF COMMERCIALIZATION OF RESEARCH FINDINGS, HAIAN COUNTY |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 |