Passive type two-degree-of-freedom foot device of quadruped robot

• Main Authors: MU LINDONG, DENG QINDAN, SU BO, JIANG YUNFENG, XU WEI, JIANG LEI
• Format: Patent
• Language: Chinese; English
• Published: 15.07.2022
• Subjects: LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; TRAILERS; TRANSPORTING

The invention relates to a passive two-degree-of-freedom foot device of a quadruped robot, and belongs to the field of design of anti-skid foot mechanisms of quadruped robot body mechanisms. The device comprises a shank 1, a cross pin shaft assembly 2, a sole skeleton 3 and a sole non-slip mat 4. The left end and the right end of the cross-shaped pin shaft assembly 2 are connected with the four-foot robot shanks 1, the front end and the rear end of the cross-shaped pin shaft assembly 2 are connected with the sole frameworks 3, and rolling and pitching movement of feet is achieved through cross-shaped pin shafts. The sole non-slip mat 4 is fixed around the sole skeleton 3 through the screws 5, and the lower end of the sole non-slip mat 4 is used for increasing friction force between the sole and the ground. A passive two-degree-of-freedom design scheme is adopted in the main body, the contact area and the road holding force can be effectively increased when the quadruped robot moves at a high speed or climbs a