CN102180206B - Robot foot mechanism with flexible joint - Google Patents
Robot foot mechanism with flexible joint Download PDFInfo
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- 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
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- plate
- heel
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- sole
- bearing
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- 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
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- 101000966403 Homo sapiens Dynein light chain 1, cytoplasmic Proteins 0.000 description 1
- 239000006096 absorbing agent Substances 0.000 description 1
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- 230000003042 antagnostic effect Effects 0.000 description 1
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- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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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 |
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CN2011101023562A CN102180206B (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
Publications (2)
Publication Number | Publication Date |
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CN102180206A CN102180206A (en) | 2011-09-14 |
CN102180206B true CN102180206B (en) | 2012-07-04 |
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CN2011101023562A Expired - Fee Related CN102180206B (en) | 2011-04-24 | 2011-04-24 | Robot foot mechanism with flexible joint |
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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 |
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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 |
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CN102180206A (en) | 2011-09-14 |
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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 |
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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 |
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