CN108415330A - Bio-robot foot end design method - Google Patents
Bio-robot foot end design method Download PDFInfo
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- CN108415330A CN108415330A CN201810202869.2A CN201810202869A CN108415330A CN 108415330 A CN108415330 A CN 108415330A CN 201810202869 A CN201810202869 A CN 201810202869A CN 108415330 A CN108415330 A CN 108415330A
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- Prior art keywords
- robot
- converter
- bio
- robot foot
- dsp
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of bio-robot foot end design methods, using the sufficient end of cat as model, more particularly to a kind of automatic sensing control system, the automatic sensing control system includes mainly touch sensor, A/D converter, DSP, D/A converter, driver, executing agency, the touch sensor is mounted on robot foot end, when robot ambulation is on different road surfaces, signal is transferred to DSP by touch sensor by A/D converter, the information that DSP analyzing processing foots end touch sensor transmits, it is transferred to driver by D/A converter, driver drives executing agency changes the shape at robot foot end, so that robot foot end can be walked as cat foot on multiple road, and improve the stability of robot ambulation.
Description
Technical field：
The present invention relates to bio-robot fields, more particularly to bio-robot foot end design method.
Background technology：
In recent years, with the fast development of scientific and technological level, robot technology reaches its maturity, and especially bio-robot is even more to attract
The sight of numerous researchers, from the point of view of the robot just announced at present, for the most of design comparisons of the design at robot foot end
Inflexible, bionical effect is poor, and these inflexible designs can not be made corresponding when facing robot ambulation in Different Ground
Change, and then affect the stability of robot ambulation, for this problem, it need to be optimized.
Invention content：
It is an object of the present invention in view of the above-mentioned problems, a kind of bio-robot foot end design method be proposed, to improve robot
The sufficient bionical effect in end, and then improve the stability of robot ambulation.
To achieve the above object, the technical solution adopted by the present invention is：
Bio-robot foot end design method using the sufficient end of cat as model, including sufficient end and be arranged it is automatic on sufficient end
Perceive control system, the automatic sensing control system mainly include touch sensor, A/D converter, DSP, D/A converter,
Driver, executing agency, the touch sensor are mounted on robot foot end, when robot ambulation is on different road surfaces, tactile
Signal is transferred to DSP by sensor by A/D converter, and the information that DSP analyzing processing foots end touch sensor transmits passes through D/
A converters are transferred to driver, and driver drives executing agency changes the shape at robot foot end so that robot foot end is as cat
Foot can equally walk on multiple road, improve the stability of robot ambulation.
The automatic sensing control system is using DSP as master controller, and input terminal connects A/D converter, to receive
Digital signal, output end connect D/A, A/D converter, to send out command signal and receive feedback signal.
The foot end has sufficient end feet toe and sufficient end inner surface, when robot ambulation is on smooth ground, executing agency
Robot foot end feet toe can be driven to be stretched out so that do not slipped when robot ambulation, when robot ambulation is on soft road
When face, executing agency can drive robot foot end feet toe to bounce back, to ensure the stability of robot ambulation.
The driver uses hydraulic-driven, and stability, adaptability are stronger；The DSP uses chip
TMS320F28335 is realized；The A/D converter is realized using chip AD7609；The D/A converter uses chip AD5754R
It realizes.
Technical solution of the present invention improves the bionical effect of robot by using bionics techniques, solves robot and exist
The adverse effect that the inflexible problem at foot end is brought to the stability of robot ambulation when different road surface walkings, and then improve machine
The stability of people's walking, has achieved the purpose that design.
Description of the drawings：
The following further describes the present invention with reference to the drawings.
Fig. 1 is automatic sensing control system schematic diagram.
Fig. 2 is sufficient end structure figure.
Specific implementation mode：
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail, it is to be understood that the protection model of the present invention
It encloses and is not restricted by specific implementation.
Referring to attached drawing 1, automatic sensing control system include mainly touch sensor, A/D converter, DSP, D/A converter,
Driver, executing agency, the touch sensor are mounted on robot foot end, when robot ambulation is on different road surfaces, tactile
Signal is transferred to DSP by sensor by A/D converter, and the information that DSP analyzing processing foots end touch sensor transmits passes through D/
A converters are transferred to driver, and driver drives executing agency changes the shape at robot foot end so that robot foot end is as cat
Foot can equally walk on multiple road, improve the stability of robot ambulation.
Sufficient end has sufficient end feet toe and sufficient end inner surface, and when robot ambulation is on smooth ground, executing agency can band
Mobile robot foot end feet toe is stretched out so that it is not slipped when robot ambulation, when robot ambulation is on soft road surface,
Executing agency can drive robot foot end feet toe to bounce back, to ensure the stability of robot ambulation.
Claims (6)
1. bio-robot foot end design method, it is characterised in that：Including sufficient end and the automatic sensing being arranged on sufficient end control
System, the automatic sensing control system include mainly touch sensor, A/D converter, DSP, D/A converter, driver, hold
Row mechanism, the touch sensor is mounted on robot foot end, and when robot ambulation is on different road surfaces, touch sensor will be believed
Number DSP is transferred to by A/D converter, the information that DSP analyzing processing foots end touch sensor transmits is passed by D/A converter
It is defeated by driver, driver drives executing agency changes the shape at robot foot end so that robot foot end can as cat foot
To walk on multiple road, the stability of robot ambulation is improved；
The automatic sensing control system is using DSP as master controller, and input terminal connects A/D converter, to receive number
Signal, output end connect D/A, A/D converter, to send out command signal and receive feedback signal.
2. bio-robot foot according to claim 1 end design method, it is characterised in that：The foot end has sufficient end feet
Toe and sufficient end inner surface, when robot ambulation is on smooth ground, executing agency can drive robot foot end feet toe to be stretched
Go out so that do not slipped when robot ambulation, when robot ambulation is on soft road surface, executing agency can drive robot foot
End feet toe bounces back, to ensure the stability of robot ambulation.
3. bio-robot foot according to claim 1 end design method, it is characterised in that：The driver uses hydraulic pressure
Driving, stability, adaptability are stronger.
4. bio-robot foot according to claim 1 end design method, it is characterised in that：The DSP uses chip
TMS320F28335 is realized.
5. bio-robot foot according to claim 1 end design method, it is characterised in that：The A/D converter uses
Chip AD7609 is realized.
6. bio-robot foot according to claim 1 end design method, it is characterised in that：The D/A converter uses
Chip AD5754R is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202869.2A CN108415330A (en) | 2018-03-13 | 2018-03-13 | Bio-robot foot end design method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202869.2A CN108415330A (en) | 2018-03-13 | 2018-03-13 | Bio-robot foot end design method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108415330A true CN108415330A (en) | 2018-08-17 |
Family
ID=63131176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810202869.2A Pending CN108415330A (en) | 2018-03-13 | 2018-03-13 | Bio-robot foot end design method |
Country Status (1)
| Country | Link |
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| CN (1) | CN108415330A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620273A (en) * | 2020-06-05 | 2020-09-04 | 北京极智嘉科技有限公司 | High-position robot and adjusting method thereof |
| WO2022100042A1 (en) * | 2020-11-12 | 2022-05-19 | 腾讯科技（深圳）有限公司 | Bionic machine foot device, bionic machine and control method thereof |
Citations (6)
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|---|---|---|---|---|
| EP1636891A1 (en) * | 2003-06-16 | 2006-03-22 | Abb Ab | Industrial robot |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN106938675A (en) * | 2017-05-04 | 2017-07-11 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of toe |
| CN107128393A (en) * | 2017-05-04 | 2017-09-05 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of flippers |
| CN206510059U (en) * | 2017-01-11 | 2017-09-22 | 中国科学院合肥物质科学研究院 | A kind of toe movable type robot foot structure |
-
2018
- 2018-03-13 CN CN201810202869.2A patent/CN108415330A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1636891A1 (en) * | 2003-06-16 | 2006-03-22 | Abb Ab | Industrial robot |
| CN105599821A (en) * | 2016-01-06 | 2016-05-25 | 山东优宝特智能机器人有限公司 | Electric driven biomimetic four-leg robot with environment sensing ability and control method |
| CN106346510A (en) * | 2016-10-11 | 2017-01-25 | 佛山科学技术学院 | Flexible three-finger clamp holder having touch sensing function |
| CN206510059U (en) * | 2017-01-11 | 2017-09-22 | 中国科学院合肥物质科学研究院 | A kind of toe movable type robot foot structure |
| CN106938675A (en) * | 2017-05-04 | 2017-07-11 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of toe |
| CN107128393A (en) * | 2017-05-04 | 2017-09-05 | 河海大学常州校区 | A kind of telescopic Foot sole structure of robot of flippers |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620273A (en) * | 2020-06-05 | 2020-09-04 | 北京极智嘉科技有限公司 | High-position robot and adjusting method thereof |
| WO2022100042A1 (en) * | 2020-11-12 | 2022-05-19 | 腾讯科技（深圳）有限公司 | Bionic machine foot device, bionic machine and control method thereof |
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Application publication date: 20180817 |