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WO2013151321A1 - Foot structure of humanoid robot - Google Patents

Foot structure of humanoid robot Download PDF

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Publication number
WO2013151321A1
WO2013151321A1 PCT/KR2013/002757 KR2013002757W WO2013151321A1 WO 2013151321 A1 WO2013151321 A1 WO 2013151321A1 KR 2013002757 W KR2013002757 W KR 2013002757W WO 2013151321 A1 WO2013151321 A1 WO 2013151321A1
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WO
WIPO (PCT)
Prior art keywords
joint
respect
foot
board
ground
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PCT/KR2013/002757
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French (fr)
Korean (ko)
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이춘우
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Individual
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Individual
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Priority claimed from KR1020120036057A external-priority patent/KR101201452B1/en
Priority claimed from KR1020120040963A external-priority patent/KR101201453B1/en
Application filed by Individual filed Critical Individual
Publication of WO2013151321A1 publication Critical patent/WO2013151321A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure

Definitions

  • the present invention relates to a humanoid robot, and more particularly to a foot structure of the humanoid robot.
  • Robots are mechanical devices that automatically perform certain tasks or operations, and are used to replace or assist humans in various fields.
  • Industrial robots are highly utilized. Industrial robots contribute to protecting people from industrial accidents by automating and unmanning production lines to improve productivity and by performing dangerous tasks on behalf of humans.
  • Humanoid robots can be used in various industrial sites as well as general industrial robots to perform tasks that are difficult for humans. However, the greatest advantage of humanoid robots can be found in that they can coexist with humans in everyday life and provide various services in a friendly manner rather than replacing humans.
  • the biped walking foot of the existing humanoid robot has a problem that when the road surface is inclined or bumpy, the foot of the robot does not touch the road surface and falls down without centering.
  • an elastically deformable foot sole is mounted on the edge of the biped walking foot via a plurality of springs, so that the spring on the side of the inclined foot is compressed and the spring on the side opposite the inclined foot is tensioned.
  • the proposed foot structure has a problem in that vibration occurs due to the spring during walking and severe deformation in the horizontal direction makes it difficult for the robot to walk smoothly.
  • a foot structure has been proposed in which a plurality of elastic rubbers are mounted on the edge of the foot to protrude on the road surface and a motor is built in the foot to force the left and right sides of the foot.
  • the built-in motor increases the size and weight of the foot, and requires a means for controlling the motor, thereby increasing the manufacturing cost.
  • the present invention comprises a foot consisting of the toe of the toe and the bottom of the foot, the toe of the toe joint is attached to the ankle joint, an upper recess concave upward on the bottom of the toe of the ankle joint is mounted, the concave portion facing the recess Solving the above problem by forming a recessed recess in the bottom of the foot, the ball is rotatably inserted between the upper and lower parts, and interposing a plurality of elastic parts between the rim of the upper back and the rim of the foot. Can be.
  • the foot structure according to the present invention may enable the foot to be centered without vibration of the foot, without deformation in the horizontal direction, and without a built-in electric motor, even when the road surface is inclined or bumpy, so that the foot cannot make a surface contact with the road surface. .
  • FIG. 1 is a view showing the foot structure of the humanoid robot of the present embodiment
  • FIG. 2 is a view showing the foot structure of the humanoid robot of another embodiment of FIG.
  • FIG. 3 is a view showing the foot structure of the humanoid robot of another embodiment of FIG.
  • FIG. 4 is a diagram showing the foot structure of the humanoid robot of another embodiment of FIG.
  • the present invention includes a robot body, a first left and right leg portion mounted to the body jointly via the first joint part and a second left and right leg mounted on the first left and right leg portion via a second joint part.
  • a robot body a first left and right leg portion mounted to the body jointly via the first joint part and a second left and right leg mounted on the first left and right leg portion via a second joint part.
  • the foot structure of the humanoid robot comprising a left and right foot joint mounting portion mounted to the second left and right leg joints and the left and right foot portion mounted to the left and right foot joint installation portion via a leg, a third joint portion
  • Each of the left and right foot portions is a top board fixedly mounted to each of the left and right foot joint installation parts, a ground board spaced apart at regular intervals in a vertical direction with respect to the top board, and one end is fixed to the top board and the other end is fixed to the ground board.
  • a plurality of elastic parts interposed between the top board and the ground board and symmetrically disposed in left and right directions along the edges of the left and right foot portions.
  • An inverted U-shaped recess formed in a portion of the upper plate which is perpendicular to the three joints, and a U-shaped recess formed in a portion of the ground substrate facing in the vertical direction with respect to the third joint and the inverted U-shaped A ball is interposed between the recess and the U-shaped recess to slide the ball against the inverted U-shaped recess and the U-shaped recess as a foot structure.
  • Fig. 1 the humanoid robot provided with the foot structure of this embodiment is indicated by the reference numeral 100.
  • the humanoid robot 100 is conventionally mounted to the main body 7 via a robot main body 7 having a posture control unit 5 therein and a first joint part 8a serving as a joint of the thigh.
  • the second left and right leg portions 6b mounted to the first left and right leg portions 6a so as to be capable of articulation via the first left and right leg portions 6a and the second joint portion 8b which is a joint portion of the knee.
  • Fixed or detachable to the left and right foot joint installation unit 4 and the left and right foot joint installation unit 4 which are jointly mounted to the second left and right leg unit 6b via the third joint unit 8c serving as the joint unit.
  • the attached left and right foot portions 1 and 2 are included.
  • the left and right foot parts 1 and 2 When the left and right foot parts 1 and 2 are detachably mounted to the left and right foot joint installation part 4, the left and right foot parts 1 and 2 may be shoes.
  • Each of the left and right foot portions 1 and 2 is spaced apart at regular intervals in a vertical direction with respect to the top board 2a and the top plate 2a fixedly or detachably mounted to each of the left and right foot joint installation portions 4.
  • a ground substrate 2b one end of which is fixed to the upper board 2a and the other end of which is fixed to the ground board 2b, is interposed between the upper board 2a and the ground board 2b, and the left and right foot portions 1 ,
  • a plurality of elastic parts 2c arranged symmetrically in the right and left directions along the edge of 2), and a supporting part 2f interposed in the center between the upper board 2a and the ground board 2b. ) Is included.
  • an inverted U-shaped concave portion is formed at a portion of the upper substrate 2a which is oriented in the vertical direction with respect to the third joint portion 8c. 2d is formed, and a U-shaped recess 2e is formed in a portion of the ground substrate 2b which faces the third joint portion 8c in a vertical direction, and the inverted U-shaped recess (
  • the ball-shaped support portion 2f is interposed between 2d) and the U-shaped recess 2e to slide against the inverted U-shaped recess 2d and the U-shaped recess 2e.
  • the top board 2a and the ground board 2b may be rotatable around the ball-shaped support 2f, and the ball-shaped support 2f may be used for the upper plate 2a.
  • the inverted U-shaped recess 2d may be fixed by fixing means (for example, a bolt or the like) or may be fixed to the U-shaped recess 2e of the ground substrate 2b by fixing means.
  • the support portion 2f may have a shape such as a triangular pyramid, a square pyramid, a hexagonal pyramid, a cone, and a triangular tetrahedron.
  • the supporting portion 2f is a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone, as shown in FIG. 2, the upper substrate 2a is vertically oriented with respect to the third joint portion 8c.
  • a concave portion 2d which is a spherical part, is formed in a portion of the bottom surface, and a corner portion of a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone is coupled to the concave portion 2d in a male and female manner to the concave portion 2d.
  • the bottom portion of the triangular pyramid, the square pyramid, the hexagonal pyramid, or the cone is fixed to a portion of the upper surface of the ground substrate 2b facing perpendicular to the third joint portion 8c, or As shown in FIG. 3, a bottom portion of a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone is fixed to a portion of the bottom surface of the upper substrate 2a that is perpendicular to the third joint portion 8c.
  • a concave portion 2e which is a spherical part, is formed at a portion of the upper surface of the ground substrate 2b facing each other, and a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone of the cone is male and female in the concave portion 2e. It is coupled and is shaped to be slidable with respect to the recess 2e.
  • the supporting portion 2f is a triangular tetrahedron, as shown in FIG. 4, a portion of a spherical shape is formed at a portion of the bottom surface of the upper substrate 2a oriented in the vertical direction with respect to the third joint portion 8c.
  • the recessed part 2d is formed, and the recessed part 2e which is a spherical part is formed in the site
  • the upper and lower stems are male-to-female coupled to the recesses 2d and the recesses 2e, respectively, so as to be slidably formed with respect to the recesses 2d and the recesses 2e, respectively. have.
  • the upper substrate 2a and the ground substrate 2b have a disc shape and are of the same size as each other.
  • the center of the supporting portion 2f coincides with the center of the third joint portion 8c on the vertical line, and is located at the center of the upper substrate 2a and the ground substrate 2b.
  • the edge of the upper substrate 2a is a curved surface 3a convex in the radially outward direction, and the edge space between the ground substrate 2b and the upper substrate 2a is covered by the cover 3.
  • the cover 3 has a lower end fixed to an edge of the ground board 2b and an upper end extending to the upper board 2a to surround the upper board 2a.
  • the inner surface of the cover 3 has a guide surface 3b along a trajectory orbiting around the ball-shaped support 2f or around the top of the support 2f, and the guide surface 3b ) Is in sliding contact with the curved surface 3a.
  • Each of the left and right foot portions 1 and 2 of the present embodiment which includes the foot structure as described above, has a road surface because the upper substrate 2a and the ground substrate 2b are always supported by the supporting portion 2f. Even if the foot is inclined or bumpy, the foot can walk without vibration of the foot even if the foot cannot make a surface contact with the road surface, and the cover 3 allows the ground board 2b to be horizontal to the top board 2a. The position shift and the horizontal position shift of the top board 2a with respect to the ground board 2b are prevented, and the elastic part on the inclined ground board side is compressed and inclined on the opposite side of the inclined ground board without the built-in electric motor. The elastic portion is stretched, which allows the robot's foot to be centered by concentrating the elastic force on the foot opposite the inclined ground substrate.
  • a plurality of pressure sensors 10 are connected to each of the plurality of elastic portions 2c.
  • the pressure sensor 10 When the pressure sensor 10 is connected to the elastic portion 2c, it may be a load cell.
  • the plurality of pressure sensors 10 may be connected to the posture control unit 5 so that at least one of the upper substrate 2a and the ground substrate 2b may be inclined to detect the inclined pressing force.
  • the plurality of pressure sensors 10 respectively transmit the information of the pressure sensed by the plurality of pressure sensors 10 to the posture control unit 5.
  • the posture controller 5 stores a reference pressure value at which each of the plurality of pressure sensors 10 should be sensed, and each of the plurality of pressure sensors 10 should be sensed. By comparing the reference pressure value and the pressure value actually transmitted from each of the plurality of pressure sensors 10, the actual pressure value transmitted from any one of the plurality of pressure sensors 10 is transmitted from the remaining pressure sensors 10. When the pressure is greater than the reference pressure value of each corresponding pressure sensor compared to the actual pressure value, the various joints provided in the robot to move the entire center of the robot in the direction of the other pressure sensor facing the one pressure sensor To drive.
  • the foot structure according to another embodiment of the present invention makes it possible to detect pressure under the sole of the foot more sensitively than the foot structure of the conventional humanoid robot, and to easily center the entire robot according to the detected pressure.
  • a variable portion that varies according to the shape of the tread surface is provided to a portion other than the foot (the link disposed above the ankle joint) so that the road surface is inclined or bumpy so that the foot is placed on the road surface. Even without surface contact, it may be possible to center the humanoid robot without vibration of the foot, without deformation in the horizontal direction, and without a built-in electric motor.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Description

인간형 로봇의 발구조Foot structure of humanoid robot

본 발명은 인간형 로봇에 관한 것으로서, 보다 상세하게는 인간형 로봇의 발구조에 관한 것이다.The present invention relates to a humanoid robot, and more particularly to a foot structure of the humanoid robot.

로봇은 어떤 작업이나 조작을 자동적으로 수행하는 기계 장치로서, 다양한 분야에서 인간을 대신하거나 보조하는데 활용되고 있다.Robots are mechanical devices that automatically perform certain tasks or operations, and are used to replace or assist humans in various fields.

로봇 중 활용도가 높은 것은 산업용 로봇이다. 산업용 로봇은 생산 라인을 자동화, 무인화하여 생산성을 향상시키고, 인간을 대신하여 위험한 작업을 수행함으로써 산업 재해로부터 인간을 보호하는데 기여하고 있다.Among the robots, industrial robots are highly utilized. Industrial robots contribute to protecting people from industrial accidents by automating and unmanning production lines to improve productivity and by performing dangerous tasks on behalf of humans.

근래에는 인간과 유사한 외관을 가지고, 인간과 유사한 행동을 하는 인간형(humanoid) 로봇이 개발되고 있다.In recent years, humanoid robots that have a human-like appearance and have a human-like behavior have been developed.

인간형 로봇은 일반적인 산업용 로봇과 마찬가지로 각종 산업 현장에 투입되어 인간이 하기 힘든 작업을 대행하는데 이용될 수 있다. 그러나 인간형 로봇이 가지는 가장 큰 이점은 인간을 대신한다는 측면보다는 일상 생활에서 인간과 공존하며 다양한 서비스를 친근감 있게 제공할 수 있다는 측면에서 찾을 수 있다.Humanoid robots can be used in various industrial sites as well as general industrial robots to perform tasks that are difficult for humans. However, the greatest advantage of humanoid robots can be found in that they can coexist with humans in everyday life and provide various services in a friendly manner rather than replacing humans.

로봇이 일상 생활에서 인간과 원활하게 교류하고 협업하기 위해서는 로봇이 인간의 다양한 동작과 제스처를 유사하게 모방할 수 있도록 하는 것이 바람직하다.In order for robots to interact and collaborate smoothly with humans in daily life, it is desirable to enable robots to mimic various human motions and gestures.

인간의 동작과 제스처에서 상당 부분은 관절부를 이용하여 수행되므로 로봇의 관절부 동작을 인간과 유사하게 구현하는 것은 로봇의 인간 친화성을 향상시키는 측면에서 중요한 과제라 할 수 있다.Since much of the movements and gestures of humans are performed using joints, implementing joint movements of robots similar to humans is an important task in terms of improving the human friendliness of robots.

하지만, 기존의 인간형 로봇의 2족 보행용 발은 노면이 경사지거나, 울퉁불퉁할 때에는 상기 로봇의 발이 노면에 면접촉을 하지 못하여 중심을 잡지못하고 넘어진다고 하는 문제를 가진다.However, the biped walking foot of the existing humanoid robot has a problem that when the road surface is inclined or bumpy, the foot of the robot does not touch the road surface and falls down without centering.

이러한 문제를 해결하기 위해, 2족 보행용 발 테두리에 복수개의 스프링을 개재하여 탄성적으로 변형가능한 보조발바닥을 장착하여, 경사지는 보조발바닥 쪽의 스프링이 압축되고 경사지는 보조발바닥 반대쪽의 스프링이 인장 되어서, 경사되는 보조발바닥 반대쪽의 발에 탄성력을 집중시켜서 로봇이 중심 잡게 하는 것이 제안되고 있다.In order to solve this problem, an elastically deformable foot sole is mounted on the edge of the biped walking foot via a plurality of springs, so that the spring on the side of the inclined foot is compressed and the spring on the side opposite the inclined foot is tensioned. Thus, it has been proposed to concentrate the elastic force on the foot opposite the inclined auxiliary foot so that the robot is centered.

그러나, 상기 제안된 발 구조는 보행시에 상기 스프링으로 인하여 진동이 발생하고 수평방향으로의 변형이 심하여 로봇으로 하여금 원활하게 보행하는 것을 어렵게 한다는 문제점을 가진다.However, the proposed foot structure has a problem in that vibration occurs due to the spring during walking and severe deformation in the horizontal direction makes it difficult for the robot to walk smoothly.

이러한 문제점을 해결하기 위해, 발의 테두리에 복수개의 탄성고무를 장착하여 노면에 돌출시키고, 발 내부에 좌우로 힘을 줄 수 있는 모터를 내장한 발 구조가 제안되고 있지만, 상기 제안된 구조는 발에 모터가 내장됨으로써 발의 크기와 무게가 증대되고 상기 모터를 제어하는 수단 등이 필요하게 되어, 제조비용을 증대시킨다고 하는 문제점을 가진다.In order to solve this problem, a foot structure has been proposed in which a plurality of elastic rubbers are mounted on the edge of the foot to protrude on the road surface and a motor is built in the foot to force the left and right sides of the foot. The built-in motor increases the size and weight of the foot, and requires a means for controlling the motor, thereby increasing the manufacturing cost.

본 발명은, 발을 발윗등부와 발밑면부로 구성하고, 상기 발윗등부를 발목관절부에 장착하고, 발목관절부가 장착된 발윗등부의 밑면에 위로 오목한 상요부를 형성하고, 상기 요부와 마주하는 상기 발밑면부에 아래로 오목한 하요부를 형성하고, 상기 상/하요부 사이에 볼이 회전가능하게 삽입되고, 상기 발윗등부의 테두리와 상기 발밑면부 테두리 사이에 복수개의 탄성부를 개재시킴으로써, 상기된 문제점을 해결할 수 있다.The present invention comprises a foot consisting of the toe of the toe and the bottom of the foot, the toe of the toe joint is attached to the ankle joint, an upper recess concave upward on the bottom of the toe of the ankle joint is mounted, the concave portion facing the recess Solving the above problem by forming a recessed recess in the bottom of the foot, the ball is rotatably inserted between the upper and lower parts, and interposing a plurality of elastic parts between the rim of the upper back and the rim of the foot. Can be.

본 발명에 따른 발 구조는, 노면이 경사지거나 울퉁불퉁하여 발이 노면에 면접촉을 하지 못하여도 발의 진동 없이, 수평방향으로의 변형 없이, 그리고 전동모터를 내장함 없이 발이 중심 잡는 것을 가능하게 할 수 있다.The foot structure according to the present invention may enable the foot to be centered without vibration of the foot, without deformation in the horizontal direction, and without a built-in electric motor, even when the road surface is inclined or bumpy, so that the foot cannot make a surface contact with the road surface. .

도 1은 본 실시예의 인간형 로봇의 발 구조를 도시한 도면,1 is a view showing the foot structure of the humanoid robot of the present embodiment,

도 2는 도 1의 다른 실시예의 인간형 로봇의 발 구조를 도시한 도면,2 is a view showing the foot structure of the humanoid robot of another embodiment of FIG.

도 3은 도 1의 또 다른 실시예의 인간형 로봇의 발 구조를 도시한 도면, 및3 is a view showing the foot structure of the humanoid robot of another embodiment of FIG.

도 4는 도 1의 또 다른 실시예의 인간형 로봇의 발 구조를 도시한 도면.4 is a diagram showing the foot structure of the humanoid robot of another embodiment of FIG.

본 발명은, 로봇 본체, 제1관절부를 개재하여 상기 본체에 관절운동 가능하게 장착된 제1좌우다리부, 제2관절부를 개재하여 상기 제1좌우다리부에 관절운동 가능하게 장착된 제2좌우다리부, 제3관절부를 개재하여 상기 제2좌우다리부에 관절운동 가능하게 장착된 좌우족관절설치부 및 상기 좌우족관절설치부에 장착된 좌우족부를 포함하고 있는 인간형 로봇의 발구조에 있어서, 상기 좌우족부 각각은, 상기 좌우족관절설치부 각각에 고정적으로 장착된 상판기판, 상기 상판기판에 대하여 연직방향으로 일정 간격 이격된 접지기판, 일단이 상기 상판기판에 고정되어 있고 타단이 상기 접지기판에 고정되어 상기 상판기판과 상기 접지기판 사이에 개재되어 좌우족부의 테두리를 따라 좌우전후방향으로 대칭적으로 배치되어 있는 복수개의 탄성부, 상기 제3관절부에 대하여 연직방향으로 등을 진 상기 상판기판의 부위에 형성된 역U자형 오목부, 상기 제3관절부에 대하여 연직방향으로 마주하는 상기 접지기판의 부위에 형성된 U자형 오목부 및 상기 역U자형 오목부와 상기 U자형 오목부 사이에 개재되어 상기 역U자형 오목부와 상기 U자형 오목부에 대하여 미끄럼운동하게 되어 있는 볼을, 발구조로서 포함하고 있다.The present invention includes a robot body, a first left and right leg portion mounted to the body jointly via the first joint part and a second left and right leg mounted on the first left and right leg portion via a second joint part. In the foot structure of the humanoid robot comprising a left and right foot joint mounting portion mounted to the second left and right leg joints and the left and right foot portion mounted to the left and right foot joint installation portion via a leg, a third joint portion, Each of the left and right foot portions is a top board fixedly mounted to each of the left and right foot joint installation parts, a ground board spaced apart at regular intervals in a vertical direction with respect to the top board, and one end is fixed to the top board and the other end is fixed to the ground board. A plurality of elastic parts interposed between the top board and the ground board and symmetrically disposed in left and right directions along the edges of the left and right foot portions. An inverted U-shaped recess formed in a portion of the upper plate which is perpendicular to the three joints, and a U-shaped recess formed in a portion of the ground substrate facing in the vertical direction with respect to the third joint and the inverted U-shaped A ball is interposed between the recess and the U-shaped recess to slide the ball against the inverted U-shaped recess and the U-shaped recess as a foot structure.

이하, 본 발명에 따른 실시예가 도 1을 참조하여 상세히 설명될 것이다.Hereinafter, an embodiment according to the present invention will be described in detail with reference to FIG.

도 1에는 본 실시예의 발구조가 구비된 인간형 로봇이 부호 100으로서 지시되어 있다. In Fig. 1, the humanoid robot provided with the foot structure of this embodiment is indicated by the reference numeral 100.

상기 인간형 로봇(100)은, 종래와 같이, 자세제어부(5)를 내장한 로봇 본체(7), 대퇴부의 관절부인 제1관절부(8a)를 개재하여 상기 본체(7)에 관절운동 가능하게 장착된 제1좌우다리부(6a), 무릎의 관절부인 제2관절부(8b)를 개재하여 상기 제1좌우다리부(6a)에 관절운동 가능하게 장착된 제2좌우다리부(6b), 발목의 관절부인 제3관절부(8c)를 개재하여 상기 제2좌우다리부(6b)에 관절운동 가능하게 장착된 좌우족관절설치부(4) 및 상기 좌우족관절설치부(4)에 고정적으로 또는 탈착가능하게 장착된 좌우족부(1, 2)를 포함하고 있다.The humanoid robot 100 is conventionally mounted to the main body 7 via a robot main body 7 having a posture control unit 5 therein and a first joint part 8a serving as a joint of the thigh. The second left and right leg portions 6b mounted to the first left and right leg portions 6a so as to be capable of articulation via the first left and right leg portions 6a and the second joint portion 8b which is a joint portion of the knee. Fixed or detachable to the left and right foot joint installation unit 4 and the left and right foot joint installation unit 4 which are jointly mounted to the second left and right leg unit 6b via the third joint unit 8c serving as the joint unit. The attached left and right foot portions 1 and 2 are included.

상기 좌우족부(1, 2)가 상기 좌우족관절설치부(4)에 탈착가능하게 장착되면, 상기 좌우족부(1, 2)는 신발이 될 수 있다.When the left and right foot parts 1 and 2 are detachably mounted to the left and right foot joint installation part 4, the left and right foot parts 1 and 2 may be shoes.

상기 좌우족부(1, 2) 각각은, 상기 좌우족관절설치부(4) 각각에 고정적으로 또는 탈착가능하게 장착된 상판기판(2a), 상기 상판기판(2a)에 대하여 연직방향으로 일정 간격 이격된 접지기판(2b), 일단이 상기 상판기판(2a)에 고정되어 있고 타단이 상기 접지기판(2b)에 고정되어 상기 상판기판(2a)과 상기 접지기판(2b) 사이에 개재되어 좌우족부(1, 2)의 테두리를 따라 좌우전후방향으로 대칭적으로 배치되어 있는 복수개의 탄성부(2c), 및 상기 상판기판(2a)과 상기 접지기판(2b) 사이의 중앙에 개재되어 있는 받침부(2f)를 포함하고 있다.Each of the left and right foot portions 1 and 2 is spaced apart at regular intervals in a vertical direction with respect to the top board 2a and the top plate 2a fixedly or detachably mounted to each of the left and right foot joint installation portions 4. A ground substrate 2b, one end of which is fixed to the upper board 2a and the other end of which is fixed to the ground board 2b, is interposed between the upper board 2a and the ground board 2b, and the left and right foot portions 1 , A plurality of elastic parts 2c arranged symmetrically in the right and left directions along the edge of 2), and a supporting part 2f interposed in the center between the upper board 2a and the ground board 2b. ) Is included.

상기 받침부(2f)가 볼 형상을 가진 경우에는 도 1에 도시된 바와 같이, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 부위에 역U자형 오목부(2d)가 형성되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 부위에 U자형 오목부(2e)가 형성되어 있으며, 상기 역U자형 오목부(2d)와 상기 U자형 오목부(2e) 사이에 상기 볼 형상의 받침부(2f)가 개재되어 상기 역U자형 오목부(2d)와 상기 U자형 오목부(2e)에 대하여 미끄럼운동하게 되어 있다.When the supporting portion 2f has a ball shape, as shown in FIG. 1, an inverted U-shaped concave portion is formed at a portion of the upper substrate 2a which is oriented in the vertical direction with respect to the third joint portion 8c. 2d is formed, and a U-shaped recess 2e is formed in a portion of the ground substrate 2b which faces the third joint portion 8c in a vertical direction, and the inverted U-shaped recess ( The ball-shaped support portion 2f is interposed between 2d) and the U-shaped recess 2e to slide against the inverted U-shaped recess 2d and the U-shaped recess 2e. .

상기 상판기판(2a)과 상기 접지기판(2b)이 상기 볼 형상의 받침부(2f) 주위로 선회가능하게 될 수도 있고, 상기 볼 형상의 받침부(2f)가 상기 상판기판(2a)의 상기 역U자형 오목부(2d)에 고정수단(예들 들면, 볼트 등)에 의해 고정되거나 상기 접지기판(2b)의 상기 U자형 오목부(2e)에 고정수단에 의해 고정되어 있어도 된다.The top board 2a and the ground board 2b may be rotatable around the ball-shaped support 2f, and the ball-shaped support 2f may be used for the upper plate 2a. The inverted U-shaped recess 2d may be fixed by fixing means (for example, a bolt or the like) or may be fixed to the U-shaped recess 2e of the ground substrate 2b by fixing means.

또한, 상기 받침부(2f)는 삼각뿔, 사각뿔, 육각뿔, 원뿔, 삼각형 정다면체 등의 형상을 가질 수 있다.In addition, the support portion 2f may have a shape such as a triangular pyramid, a square pyramid, a hexagonal pyramid, a cone, and a triangular tetrahedron.

상기 받침부(2f)가 삼각뿔, 사각뿔, 육각뿔, 또는 원뿔인 경우에는, 도 2에 도시된 바와 같이, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 구형상의 일부인 오목부(2d)가 형성되어 있고, 삼각뿔, 사각뿔, 육각뿔, 또는 원뿔의 꼭지부가 상기 오목부(2d)에 암수결합식으로 결합되어 상기 오목부(2d)에 대하여 미끄럼운동가능하게 형상화되어 있고, 삼각뿔, 사각뿔, 육각뿔, 또는 원뿔의 바닥부가 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 고정되어 있거나, 또는 도 3에 도시된 바와 같이, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 삼각뿔, 사각뿔, 육각뿔, 또는 원뿔의 바닥부가 고정되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 구형상의 일부인 오목부(2e)가 형성되어 있고, 삼각뿔, 사각뿔, 육각뿔, 또는 원뿔의 꼭지부가 상기 오목부(2e)에 암수결합식으로 결합되어 상기 오목부(2e)에 대하여 미끄럼운동가능하게 형상화되어 있다.When the supporting portion 2f is a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone, as shown in FIG. 2, the upper substrate 2a is vertically oriented with respect to the third joint portion 8c. A concave portion 2d, which is a spherical part, is formed in a portion of the bottom surface, and a corner portion of a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone is coupled to the concave portion 2d in a male and female manner to the concave portion 2d. The bottom portion of the triangular pyramid, the square pyramid, the hexagonal pyramid, or the cone is fixed to a portion of the upper surface of the ground substrate 2b facing perpendicular to the third joint portion 8c, or As shown in FIG. 3, a bottom portion of a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone is fixed to a portion of the bottom surface of the upper substrate 2a that is perpendicular to the third joint portion 8c. Vertical direction with respect to the third joint portion 8c A concave portion 2e, which is a spherical part, is formed at a portion of the upper surface of the ground substrate 2b facing each other, and a triangular pyramid, a square pyramid, a hexagonal pyramid, or a cone of the cone is male and female in the concave portion 2e. It is coupled and is shaped to be slidable with respect to the recess 2e.

상기 받침부(2f)가 삼각형 정다면체인 경우에는, 도 4에 도시된 바와 같이, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 구형상의 일부인 오목부(2d)가 형성되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 구형상의 일부인 오목부(2e)가 형성되어 있고 삼각형 정다면체의 상부 꼭지부와 하부 꼭지부가 각각 상기 오목부(2d)와 상기 오목부(2e)에 암수결합식으로 결합되어 상기 오목부(2d)와 상기 오목부(2e) 각각에 대하여 미끄럼운동가능하게 형상화되어 있다.In the case where the supporting portion 2f is a triangular tetrahedron, as shown in FIG. 4, a portion of a spherical shape is formed at a portion of the bottom surface of the upper substrate 2a oriented in the vertical direction with respect to the third joint portion 8c. The recessed part 2d is formed, and the recessed part 2e which is a spherical part is formed in the site | part of the upper surface of the said ground board 2b facing perpendicularly with respect to the said 3rd joint part 8c, and the triangular regular polyhedron The upper and lower stems are male-to-female coupled to the recesses 2d and the recesses 2e, respectively, so as to be slidably formed with respect to the recesses 2d and the recesses 2e, respectively. have.

상기 상판기판(2a)과 상기 접지기판(2b)은 원판형상을 갖고서 서로 동일한 크기로 되어 있다. 상기 받침부(2f)의 중심은, 연직선 상의 상기 제3관절부(8c)의 중심과 일치되어 있으며, 상기 상판기판(2a)과 상기 접지기판(2b)의 중심에 위치되어 있다.The upper substrate 2a and the ground substrate 2b have a disc shape and are of the same size as each other. The center of the supporting portion 2f coincides with the center of the third joint portion 8c on the vertical line, and is located at the center of the upper substrate 2a and the ground substrate 2b.

또한, 상기 상판기판(2a)의 테두리는 방사바깥방향으로 볼록한 곡면(3a)으로 되어 있고, 상기 접지기판(2b)과 상기 상판기판(2a) 사이의 테두리 공간은 커버(3)에 의해 덮혀 있으며, 상기 커버(3)는 하단이 상기 접지기판(2b)의 테두리에 고정되어 있고 상단이 상기 상판기판(2a)으로 뻗어서 상기 상판기판(2a)을 에워싸고 있다.In addition, the edge of the upper substrate 2a is a curved surface 3a convex in the radially outward direction, and the edge space between the ground substrate 2b and the upper substrate 2a is covered by the cover 3. The cover 3 has a lower end fixed to an edge of the ground board 2b and an upper end extending to the upper board 2a to surround the upper board 2a.

상기 커버(3)의 내면은 상기 볼 형상의 받침부(2f) 주위로 또는 상기 받침부(2f)의 꼭지부 주위로 선회되는 궤도를 따르는 가이드면(3b)을 가지고 있고, 상기 가이드면(3b)은 상기 곡면(3a)와 미끄럼접촉을 한다.The inner surface of the cover 3 has a guide surface 3b along a trajectory orbiting around the ball-shaped support 2f or around the top of the support 2f, and the guide surface 3b ) Is in sliding contact with the curved surface 3a.

상기와 같이 발구조를 포함하고 있는 본 실시예의 좌우족부(1, 2) 각각은 상기 상판기판(2a)과 상기 접지기판(2b)이 항상 받침부(2f)에 의해 지지를 받기 때문에, 노면이 경사지거나 울퉁불퉁하여 발이 노면에 면접촉을 하지 못하여도 발의 진동없이, 로롯이 보행하는 것을 가능하게 하며, 상기 커버(3)에 의해 상판기판(2a)에 대한 상기 접지기판(2b)의 수평방향의 위치 어긋남과 상기 접지기판(2b)에 대한 상판기판(2a)의 수평방향의 위치 어긋남이 방지됨과 동시에, 전동모터를 내장함 없이도, 경사지는 접지기판 쪽의 탄성부가 압축되고 경사지는 접지기판 반대쪽의 탄성부가 인장 되어서, 경사되는 접지기판 반대쪽의 족부에 탄성력을 집중시켜서 로봇의 발이 중심 잡게 하는 것을 가능하게 한다.Each of the left and right foot portions 1 and 2 of the present embodiment, which includes the foot structure as described above, has a road surface because the upper substrate 2a and the ground substrate 2b are always supported by the supporting portion 2f. Even if the foot is inclined or bumpy, the foot can walk without vibration of the foot even if the foot cannot make a surface contact with the road surface, and the cover 3 allows the ground board 2b to be horizontal to the top board 2a. The position shift and the horizontal position shift of the top board 2a with respect to the ground board 2b are prevented, and the elastic part on the inclined ground board side is compressed and inclined on the opposite side of the inclined ground board without the built-in electric motor. The elastic portion is stretched, which allows the robot's foot to be centered by concentrating the elastic force on the foot opposite the inclined ground substrate.

상기 실시예에 더하여, 또 다른 실시예로서, 상기 복수개의 탄성부(2c) 각각에는 복수개의 압력센서(10)가 접속되어 있다.In addition to the above embodiment, as another embodiment, a plurality of pressure sensors 10 are connected to each of the plurality of elastic portions 2c.

상기 탄성부(2c)에 상기 압력센서(10)가 접속되면, 로드셀이 될 수도 있다.When the pressure sensor 10 is connected to the elastic portion 2c, it may be a load cell.

상기 복수개의 압력센서(10)들은 상기 자세제어부(5)에 접속되어, 상기 상판기판(2a) 및 상기 접지기판(2b) 중 적어도 하나가 경사지게 되면, 바로 그 경사되는 가압력을 감지할 수 있다.The plurality of pressure sensors 10 may be connected to the posture control unit 5 so that at least one of the upper substrate 2a and the ground substrate 2b may be inclined to detect the inclined pressing force.

상기 복수개의 압력센서(10)들은 각각 상기 복수개의 압력센서(10)에 의해 감지된 압력의 정보들을 상기 자세제어부(5)에 전달하게 된다.The plurality of pressure sensors 10 respectively transmit the information of the pressure sensed by the plurality of pressure sensors 10 to the posture control unit 5.

상기 자세제어부(5)는, 로봇의 통상의 보행시에, 상기 복수개의 압력센서(10) 각각이 감지되어야 하는 기준 압력 값을 저장하고 있고, 상기 복수개의 압력센서(10) 각각이 감지되어야 하는 기준 압력 값과 상기 복수개의 압력센서(10) 각각으로부터 실제로 전달되는 압력 값을 비교하여, 상기 복수개의 압력센서(10) 중 어느 하나에서 전달되는 실제 압력 값이 나머지 압력센서(10)들에서 전달되는 실제 압력 값에 비하여 각각의 해당 압력센서의 기준 압력 값보다 가장 크게 되면, 상기 하나의 압력센서와 마주하는 다른 하나의 압력센서 방향으로 로봇의 전제 중심을 이동시키도록 로봇에 구비된 각종 관절부를 구동하게 된다.The posture controller 5 stores a reference pressure value at which each of the plurality of pressure sensors 10 should be sensed, and each of the plurality of pressure sensors 10 should be sensed. By comparing the reference pressure value and the pressure value actually transmitted from each of the plurality of pressure sensors 10, the actual pressure value transmitted from any one of the plurality of pressure sensors 10 is transmitted from the remaining pressure sensors 10. When the pressure is greater than the reference pressure value of each corresponding pressure sensor compared to the actual pressure value, the various joints provided in the robot to move the entire center of the robot in the direction of the other pressure sensor facing the one pressure sensor To drive.

이와 같이 상기 또 다른 변경 실시예의 발구조는 종래의 인간형 로봇의 발 구조보다 민감하게 발바닥이 받고 있는 압력을 감지하고, 그 감지된 압력에 따라 용이하게 로봇의 전체적인 중심을 잡는 것을 가능하게 한다.As described above, the foot structure according to another embodiment of the present invention makes it possible to detect pressure under the sole of the foot more sensitively than the foot structure of the conventional humanoid robot, and to easily center the entire robot according to the detected pressure.

상기 발바닥 구조가 발목관절보다 위에 배치된 링크에 제공되면, 디딤면의 형상에 따라 가변하는 가변부가 발이 아닌 부위(발목관절보다 위에 배치된 링크)에 제공되어, 노면이 경사지거나 울퉁불퉁하여 발이 노면에 면접촉을 하지 못하여도 발의 진동 없이, 수평방향으로의 변형 없이, 그리고 전동모터를 내장함 없이 휴먼노이드 로봇의 중심 잡는 것을 가능하게 할 수도 있다.When the sole structure is provided to the link disposed above the ankle joint, a variable portion that varies according to the shape of the tread surface is provided to a portion other than the foot (the link disposed above the ankle joint) so that the road surface is inclined or bumpy so that the foot is placed on the road surface. Even without surface contact, it may be possible to center the humanoid robot without vibration of the foot, without deformation in the horizontal direction, and without a built-in electric motor.

Claims (7)

로봇 본체(7), 제1관절부(8a)를 개재하여 상기 본체(7)에 관절운동 가능하게 장착된 제1좌우다리부(6a), 제2관절부(8b)를 개재하여 상기 제1좌우다리부(6a)에 관절운동 가능하게 장착된 제2좌우다리부(6b), 제3관절부(8c)를 개재하여 상기 제2좌우다리부(6b)에 관절운동 가능하게 장착된 좌우족관절설치부(4) 및 상기 좌우족관절설치부(4)에 고정적으로 또는 탈착가능하게 장착된 좌우족부(1, 2)를 포함하고 있는 인간형 로봇의 발구조에 있어서, The first left and right legs 6a and the second joint 8b mounted on the main body 7 so as to be articulated through the robot body 7 and the first joint 8a. Left and right leg joint installation parts mounted to the second left and right leg part 6b through the second left and right leg part 6b and the third joint part 8c so as to be articulated on the part 6a. 4) and in the foot structure of the humanoid robot including left and right foot portions 1 and 2 fixedly or detachably mounted to the left and right foot joint installation portion 4, 상기 좌우족부(1, 2) 각각은, 상기 좌우족관절설치부(4) 각각에 고정적으로 또는 탈착가능하게 장착된 상판기판(2a), 상기 상판기판(2a)에 대하여 연직방향으로 일정 간격 이격된 접지기판(2b), 일단이 상기 상판기판(2a)에 고정되어 있고 타단이 상기 접지기판(2b)에 고정되어 상기 상판기판(2a)과 상기 접지기판(2b) 사이에 개재되어 좌우족부(1, 2)의 테두리를 따라 좌우전후방향으로 대칭적으로 배치되어 있는 복수개의 탄성부(2c), 상기 상판기판(2a)과 상기 접지기판(2b) 사이의 중앙에 개재되어 있는 받침부(2f)를 포함하고 있으며,Each of the left and right foot portions 1 and 2 is spaced apart at regular intervals in a vertical direction with respect to the top board 2a and the top plate 2a fixedly or detachably mounted to each of the left and right foot joint installation portions 4. A ground substrate 2b, one end of which is fixed to the upper board 2a and the other end of which is fixed to the ground board 2b, is interposed between the upper board 2a and the ground board 2b, and the left and right foot portions 1 , A plurality of elastic parts 2c arranged symmetrically in the right and left directions along the edge of 2), and a supporting part 2f interposed in the center between the upper board 2a and the ground board 2b. It contains, 상기 상판기판(2a)의 밑면과 상기 접지기판(2b)의 윗면 중 적어도 하나에 구형상의 일부인 오목부가 형성되어 있고,A concave portion, which is a part of a spherical shape, is formed on at least one of the bottom surface of the upper substrate 2a and the upper surface of the ground substrate 2b. 상기 상판기판(2a)과 상기 접지기판(2b) 중 적어도 하나는 상기 적어도 하나의 오목부가 상기 받침부(2f)와 결합되어 상기 받침부(2f)에 대하여 미끄럼운동하여 선회가능하게 되어 있는 것을 특징으로 하는 인간형 로봇의 발구조.At least one of the upper substrate 2a and the ground substrate 2b is characterized in that the at least one concave portion is coupled to the support portion 2f so as to be able to pivot by sliding with respect to the support portion 2f. Foot structure of humanoid robot. 제 1항에 있어서,The method of claim 1, 상기 받침부(2f)는 볼, 삼각뿔, 사각뿔, 육각뿔, 원뿔, 또는 삼각형 정다면체 형상을 가진 것을 특징으로 하는 인간형 로봇의 발구조.The support portion (2f) is a foot structure of a humanoid robot, characterized in that the ball, triangular pyramid, square pyramid, hexagonal pyramid, cone, or triangular tetrahedral shape. 제 2항에 있어서, The method of claim 2, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 부위에 역U자형 오목부(2d)가 형성되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 부위에 U자형 오목부(2e)가 형성되어 있으며,상기 역U자형 오목부(2d)와 상기 U자형 오목부(2e) 중 적어도 하나는 상기 받침부(2f)와 미끄럼운동가능하게 결합되어 있는 것을 특징으로 하는 인간형 로봇의 발구조.An inverted U-shaped concave portion 2d is formed at a portion of the upper substrate 2a that is oriented in the vertical direction with respect to the third joint portion 8c, and faces in the vertical direction with respect to the third joint portion 8c. A U-shaped recess 2e is formed at a portion of the ground substrate 2b, and at least one of the inverted U-shaped recess 2d and the U-shaped recess 2e is the support portion 2f. Foot structure of the humanoid robot, characterized in that coupled to the sliding movement. 제 2항에 있어서,The method of claim 2, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 구형상의 일부인 오목부(2d)가 형성되어 있고, 상기 받침부(2f)의 꼭지부가 상기 오목부(2d)에 암수결합식으로 결합되어 상기 오목부(2d)에 대하여 미끄럼운동가능하게 형상화되어 있고, 상기 받침부(2f)의 바닥부가 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 고정되어 있거나, 또는 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 상기 받침부(2f)의 바닥부가 고정되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 구형상의 일부인 오목부(2e)가 형성되어 있고, 상기 받침부(2f)의 꼭지부가 상기 오목부(2e)에 암수결합식으로 결합되어 상기 오목부(2e)에 대하여 미끄럼운동가능하게 형상화되어 있는 것을 특징으로 하는 인간형 로봇의 발구조.A concave portion 2d, which is a spherical part, is formed in a portion of the bottom surface of the upper substrate 2a which is oriented in the vertical direction with respect to the third joint portion 8c, and the top of the supporting portion 2f is recessed. Coupled to the portion 2d in a male-to-female form, the shaped portion is slidably movable with respect to the recessed portion 2d, and the bottom portion of the supporting portion 2f faces in the vertical direction with respect to the third joint portion 8c. The bottom of the support portion 2f is fixed to a portion of the upper surface of the ground substrate 2b or to a portion of the bottom surface of the upper substrate 2a which is oriented in the vertical direction with respect to the third joint portion 8c. The part is fixed, and the recessed part 2e which is a spherical part is formed in the site | part of the upper surface of the said ground board 2b facing perpendicularly with respect to the said 3rd joint part 8c, and the support part 2f The stem is male and female coupled to the concave portion 2e, The foot structure of the humanoid robot, characterized by being slidably movable with respect to the neck 2e. 제 2항에 있어서,The method of claim 2, 상기 제3관절부(8c)에 대하여 연직방향으로 등을 진 상기 상판기판(2a)의 밑면의 부위에 구형상의 일부인 오목부(2d)가 형성되어 있고, 상기 제3관절부(8c)에 대하여 연직방향으로 마주하는 상기 접지기판(2b)의 윗면의 부위에 구형상의 일부인 오목부(2e)가 형성되어 있고 상기 받침부(2f)의 상부 꼭지부와 하부 꼭지부가 각각 상기 오목부(2d)와 상기 오목부(2e)에 암수결합식으로 결합되어 상기 오목부(2d)와 상기 오목부(2e) 각각에 대하여 미끄럼운동가능하게 형상화되어 있는 것을 특징으로 하는 인간형 로봇의 발구조.A concave portion 2d, which is a spherical part, is formed at a portion of the bottom surface of the upper substrate 2a that is oriented in the vertical direction with respect to the third joint portion 8c, and is perpendicular to the third joint portion 8c. A concave portion 2e, which is a spherical part, is formed in a portion of the upper surface of the ground substrate 2b facing each other, and the upper and lower stem portions of the support portion 2f are respectively the recessed portion 2d and the concave portion. A foot structure of a humanoid robot, characterized in that it is coupled to the portion (2e) by a male and female coupling so as to be slidably movable with respect to each of the recess (2d) and the recess (2e). 제 1항에 있어서,The method of claim 1, 상기 상판기판(2a)과 상기 접지기판(2b)은 원판형상을 갖고서 서로 동일한 크기로 되어 있고,The upper substrate 2a and the ground substrate 2b have a disc shape and are the same size as each other. 상기 받침부(2f)의 중심은, 연직선 상의 상기 제3관절부(8c)의 중심과 일치되어 있으며, 상기 상판기판(2a)과 상기 접지기판(2b)의 중심에 위치되어 있으며,The center of the support portion 2f coincides with the center of the third joint portion 8c on the vertical line, and is located at the center of the upper substrate 2a and the ground substrate 2b. 상기 상판기판(2a)의 테두리는 방사바깥방향으로 볼록한 곡면(3a)으로 되어 있고, The edge of the upper substrate 2a is a curved surface 3a convex in the radial outward direction, 상기 접지기판(2b)과 상기 상판기판(2a) 사이의 테두리 공간은 커버(3)에 의해 덮혀 있으며, The border space between the ground board 2b and the top board 2a is covered by a cover 3, 상기 커버(3)는 하단이 상기 접지기판(2b)에 고정되어 있고 상단이 상기 상판기판(2a)으로 뻗어서 상기 상판기판(2a)을 에워싸고 있고,The cover 3 has a lower end fixed to the ground board 2b and an upper end extending to the upper board 2a to surround the upper board 2a. 상기 커버(3)의 내면은 상기 받침부(2f) 주위로 또는 상기 받침부(2f)의 꼭지부 주위로 선회되는 궤도를 따르는 가이드면(3b)을 가지고 있고, The inner surface of the cover 3 has a guide surface 3b along a trajectory that pivots around the support portion 2f or around the top of the support portion 2f, 상기 가이드면(3b)은 상기 곡면(3a)와 미끄럼접촉하는 특징으로 하는 인간형 로봇의 발구조.The guide surface (3b) is a foot structure of the humanoid robot, characterized in that the sliding contact with the curved surface (3a). 제 1항에 있어서,The method of claim 1, 로봇 본체(7)에는 자세제어부(5)가 내장되어 있고,The robot body 7 has a built-in posture control unit 5, 상기 복수개의 탄성부(2c) 각각에는 복수개의 압력센서(10)가 접속되어 있고,A plurality of pressure sensors 10 are connected to each of the plurality of elastic portions 2c, 상기 복수개의 압력센서(10)들은 상기 자세제어부(5)에 접속되어 상기 복수개의 압력센서(10)에 의해 감지된 압력의 정보를 상기 자세제어부(5)에 전달하게 되는 것을 특징으로 하는 인간형 로봇의 발구조.The plurality of pressure sensors 10 are connected to the posture control unit 5 so as to transfer information of the pressure sensed by the plurality of pressure sensors 10 to the posture control unit 5. Foot structure.
PCT/KR2013/002757 2012-04-06 2013-04-03 Foot structure of humanoid robot Ceased WO2013151321A1 (en)

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KR1020120036057A KR101201452B1 (en) 2012-04-06 2012-04-06 foot structure of humanoid robot
KR1020120040963A KR101201453B1 (en) 2012-04-19 2012-04-19 foot structure of humanoid robot
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1133941A (en) * 1997-07-23 1999-02-09 Honda Motor Co Ltd Leg structure of a legged mobile robot
US20050077856A1 (en) * 2001-12-25 2005-04-14 Honda Giken Kogyo Kabushiki Kaisha Device for absorbing floor-landing shock for legged mobile robot
US20080300721A1 (en) * 2004-12-14 2008-12-04 Honda Motor Co., Ltd. Legged Mobile Robot and Control Program for the Robot
JP2009166182A (en) * 2008-01-17 2009-07-30 Toyota Motor Corp Foot and moving body

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1133941A (en) * 1997-07-23 1999-02-09 Honda Motor Co Ltd Leg structure of a legged mobile robot
US20050077856A1 (en) * 2001-12-25 2005-04-14 Honda Giken Kogyo Kabushiki Kaisha Device for absorbing floor-landing shock for legged mobile robot
US20080300721A1 (en) * 2004-12-14 2008-12-04 Honda Motor Co., Ltd. Legged Mobile Robot and Control Program for the Robot
JP2009166182A (en) * 2008-01-17 2009-07-30 Toyota Motor Corp Foot and moving body

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