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WO2018051365A1 - Pied robotique ayant un mécanisme d'actionnement des orteils pour un robot humanoïde et son procédé de construction - Google Patents

Pied robotique ayant un mécanisme d'actionnement des orteils pour un robot humanoïde et son procédé de construction Download PDF

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Publication number
WO2018051365A1
WO2018051365A1 PCT/IN2017/050396 IN2017050396W WO2018051365A1 WO 2018051365 A1 WO2018051365 A1 WO 2018051365A1 IN 2017050396 W IN2017050396 W IN 2017050396W WO 2018051365 A1 WO2018051365 A1 WO 2018051365A1
Authority
WO
WIPO (PCT)
Prior art keywords
foot
humanoid
actuation unit
robotic
robotic foot
Prior art date
Application number
PCT/IN2017/050396
Other languages
English (en)
Inventor
Diwakar VAISH
Original Assignee
Vaish Diwakar
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Vaish Diwakar filed Critical Vaish Diwakar
Publication of WO2018051365A1 publication Critical patent/WO2018051365A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • a robotic foot having a toe actuation mechanism for a humanoid robot and method for constructing thereof
  • the present invention relates to the field of the humanoid robotic foot.
  • the invention particularly relates to an improved robotic foot having an actuation means which is provided between the toe and the heel section that yields an easy and simple structure to initiate a robotic motion similar to the human.
  • the bipedal robotic foot Since the inception of the humanoid robot, the bipedal robotic foot is the area of interest for the researchers, to provide their highly suitable working in human environments with obstacle avoidance and ability to be employed as a human substitute.
  • the complex dynamics involved make biped robot control a challenging task to provide a zero moment point (ZMP) trajectory in the robot foot support area, having a significant criterion for the stability of the walk.
  • ZMP coordinates are calculated using a various model of the robot and information, i.e. evolved from the joint areas of the humanoid robot.
  • a very common approach is to use measurement data from sensors or actuation units which is mounted in the robotic foot.
  • US 8551184 B1 describes a Variable mechanical-impedance artificial legs which has an autonomous motorized powered-catapult device.
  • the device is having a mounted end adapted to be attached to a wearer's residual limb and an opposite distal end.
  • the device includes a leg prosthesis having an ankle joint, an electromechanical actuation unit adapted to power the leg prosthesis.
  • the electromechanical actuation unit is comprised of an elastic element configured to store elastic energy, and a motor operatively coupled to the elastic element.
  • a sensor for sensing gait information and a control system i.e. configured to cause the motor to store additional elastic energy in the elastic element as a function of information from the sensor for later release of stored energy from the elastic element to cause ankle powered plantar-flexion of the leg prosthesis thereby providing net positive mechanical work.
  • .US 20090146600 A1 discloses a robotic foot which includes a backpart unit with a leg, i.e. rotatably installed at the center thereof.
  • a forepart unit which is rotatably connected to the front of the backpart unit by a foot part connector.
  • a plurality of force/moment sensors are installed on the bottom of the backpart unit and the bottom of the forepart unit, respectively to provide motion to the robotic foot.
  • US 8403081 B2 relates to a humanoid robot that comprises a sole having an upright secured thereto toes, a connection, independent of the ankle, in rotation between the sole and the toes, an actuation unit formed of a linear jack, i.e. coupled to the upright and the toes and a means for controlling the actuation unit in a standalone manner.
  • the toes are configured to move on an angular travel about an axis of the connection.
  • the means for controlling the actuation unit makes it possible to choose a define state.
  • the states can be comprised of: a complete rigidity of the connection; a restoring torque that is a function of the angular travel of the connection; a damping of the rotation of the connection; and an addition of power during the rotation of the connection.
  • WO 2013151321 A1 evinces a robotic foot comprises a foot top portion, an upper concave portion, a lower convex portion, a foot sole portion, a ball which is rotationally inserted between the upper concave portion and the lower convex portion, and a plurality of elastic portions. Further, the upper concave portion protrudes upwards from the bottom surface of the foot top portion which is provided with the ankle joint part and the lower convex portion protrudes downwards towards the foot sole portion which faces the upper concave portion.
  • the plurality of elastic portions are interposed between the rim of the foot top portion and the rim of the foot sole portion, thereby enabling the foot to maintain its balance without incorporating an electric motor, vibrations from the foot, and deformation in the horizontal direction.
  • the robotic foot can also work on a road surface which is inclined or uneven such that the foot cannot come into surface-contact with the road surface.
  • the aforesaid documents and other similar solutions may strive to provide a humanoid robotic foot; however, they still have a number of limitations and shortcomings such as, but not limited to, incapable to provide a stability in bipedal locomotion.
  • the dynamic calculations and arrangements, i.e. used to achieve a walk included in the prior art are complicated and complex in nature.
  • the present invention provides an improved robotic foot for humanoid robot.
  • the general purpose of the present invention which will be described subsequently in greater detail, is to provide a new and improved robotic foot having a compliant control of dynamic humanoid balancing, which has all the advantages of the prior art and none of the disadvantages.
  • An object of the invention is to provide a robotic foot that includes a rigid foot articulated core having a toe section, a heel section, and a plurality of actuation units controlled by a microcontroller, dynamically.
  • Figure 1 shows a perspective view of a humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 2 shows a block diagram which represents the interaction of a humanoid robotic foot with a microcontroller in accordance with an embodiment of the present invention
  • FIG. 3 illustrates an internal structure of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 4 shows a bottom down view of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 5 shows an exploded view of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 6 illustrates an internal structure of a heel section of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 7 illustrates an internal structure of a toe section of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • Figure 8 illustrates a method presenting steps involved in construction of the humanoid robotic foot in accordance with an embodiment of the present invention.
  • FIGS. 1 & 2 illustrates the present invention which generally provides a foot (100) for a humanoid robot that comprises a rigid foot articulated core having a toe section (115), a heel section (120), and a plurality of actuation units (105) controlled by a microcontroller (110).
  • the rigid foot articulated core is an inexpensive robust housing unit that provides a placing area for the plurality of actuation units (105) and a plurality of connecting elements such as, but not limited to, electric wires, brackets (125), horns (130) inside it.
  • FIG. 1 a perspective view of a humanoid robotic foot (100) utilized in this embodiment, the humanoid robotic foot is having a compliant control of dynamic humanoid balancing and walking for a humanoid robot which comprises a robotic foot articulated section, a microcontroller (110) for determining an angular offset, dynamically, for each of the connected joints in the set of joints of the robotic foot articulated section, an actuation unit (105) comprises a torque sensor measuring the torque of the other joints, placed inside the humanoid robot with respect to a toe articulated section of the humanoid robot, a compliance gait mechanism adapted to establish by the plurality of actuation units (105) that communicatively coupled with the microcontroller (110) of the humanoid robot.
  • each of the actuation unit (105) is configured to provide the related gait movement in accordance with a position of the other connected actuation unit inside the humano
  • the robotic foot articulated section further comprises of a sole supporting member having a plurality of connected joints between a toe section (115) and a heel section (120) of the humanoid robot.
  • FIG. 2 is a block diagram presenting the interaction between the microcontroller (110) and the actuation units (105) in accordance with yet another preferred embodiments of the present invention.
  • the microcontroller (110) is communicatively coupled to a plurality of actuation units (105) for controlling dynamically the robotic foot articulated section by using a plurality of artificial intelligence and kinematics commands.
  • the artificial intelligence interface is directed to provide the dynamic compliance gait movement by computing the torque value and the resulted angle to be moved for each of the actuation unit (105), i.e. placed inside the humanoid robot in accordance to the surface for walking of the humanoid robot.
  • the artificial intelligence interface is configured to process the data information for each of the plurality of actuation unit
  • FIG. 3 illustrates the internal structure of the humanoid robotic foot (100).
  • the humanoid robotic foot having a movement of foot similar to a level of human being for a humanoid robot, comprising a rigid foot articulated core adapted to make the humanoid robotic foot (100), at least one actuation unit (105) configured to provide gait movement to the articulated core, and at least one means for controlling the gait movement of the actuation units (105) by determining a predefined zero moment point trajectory with respect to a related center of gravity, dynamically for a humanoid robot.
  • the means for determining a predefined zero moment point trajectory is a microcontroller (110).
  • the rigid foot articulated core comprises of a sole supporting member having a plurality of connected joints between a toe section (115) and a heel section (120) of the humanoid robot.
  • the rigid foot articulated core is having an upper end which is movably connected to the actuation unit (105) in the forward-backward direction for an upper limb portion of the humanoid robot and a lower end to provide a bent portion disposed at the toe section (115) thereof.
  • the actuation unit is configured to process a data information according to a user defined data input by using the microcontroller (110).
  • FIG. 4 shows a bottom down view of the humanoid robotic foot (100) in accordance with yet another preferred embodiment of the present invention.
  • the actuation unit (105) is adapted to movement of the toe section (115) and the heel section (120) relative to the sole member in a sagittal plane of the foot and each of the actuation unit (105) is placed on an upright horizontal moving position to the sole supporting member, and on the toe section (115).
  • each of the actuation unit (105) is interconnected to perform a user defined output for a defined amount of compliant gait movement in a related precision of the robotic foot articulated section.
  • the sole supporting member is having a plurality of through holes (140) which are placed on the toe section (115) for placing the actuation unit (105) to provide a movable axis for the toe section (115).
  • the actuation unit (115) is movable on an axis contained in, but not limited to, a sagittal plane of the foot.
  • the heel section is having a cutted section (135) from the center middle portion for moving the actuation unit on the placed axis.
  • FIG. 5 shows an exploded view of the humanoid robotic foot (100) in accordance with an embodiment of the present invention.
  • the actuation unit (105) is removably connected from the robotic foot articulated section via fastening means such as, but not limited to, rivets, nut-bolts, or the like.
  • the actuation unit (105) is directed by the microcontroller (110), and the microcontroller (110) drives each of the actuation unit placed inside the robotic foot articulated section.
  • the microcontroller (110) is configured, but not limited to, evaluate a joint angle value for the compliance on the every movement of the humanoid robot using the actuation unit and a plurality of angle commands for each of the joint to be followed.
  • the actuation unit (105) is provided with a potential energy storage means and further convert into a kinetic energy, dynamically, according to the compliant gait mechanism using a predetermined data information to the microcontroller (110).
  • the actuation unit (105) is stipulated a transmission mechanism to provide a compliant gait mechanism by the equal distributed kinetic energy on the both robotic foot.
  • the placed actuation unit (105) is, but not limited to, an electric actuation unit that can be actuated by an electric power supply.
  • FIG. 6 illustrates an internal structure of a heel section (120) of the humanoid robotic foot (100) in accordance with an embodiment of the present invention.
  • the rigid foot articulated core is having an upper end which is movably connected to the actuation unit (105) in the forward-backward direction for an upper limb portion of the humanoid robot and a lower end to provide a bent portion disposed at the toe section thereof.
  • the upper end of the heel section (120) is provided with the upper limb portion connectivity using the actuation unit (105) and fastening means.
  • the other horizontal end is provided with the toe section (115) connectivity using the actuation unit (105) and fastening means.
  • FIG. 7 illustrates an internal structure of a toe section of the humanoid robotic foot (100) in accordance with an embodiment of the present invention.
  • the rigid foot articulated section is comprised of the toe section from the other lower end across the heel section (120) which is movably connected to the actuation unit (105) in the forward-backward direction with a bent portion disposed thereof.
  • the actuation unit (105) placed in the rigid foot articulated core is characterized by, but not limited to, the linear actuation unit and the rotational actuation unit for providing kinematics to the robotic foot.
  • the microcontroller (110) and the actuation unit (105) are actuated by a power module, i.e. placed inside the humanoid robot.
  • the foot articulated core is constructed from a material selected from a group of plastic, a metallic or non-metallic element and a combination thereof, although other suitable material can also be selected by the producer.
  • FIG. 8 is a process flow diagram presenting a method (300) for constructing a humanoid robotic foot in accordance with yet another preferred embodiments of the present invention.
  • a rigid articulated sole member is adapted to provide a compliance gait movement to the humanoid robotic foot (100).
  • the sole member is constructed with a material, i.e. selected from a plastic, a metal and non-metallic element, although the other suitable material can also be used by the producer.
  • the rigid articulated sole member is comprised of a heel section (120) and a toe section (115). The heel section (120) and the toe section (115) are movable to their axis of placement, such that the both sections in conjunction to work with each other provide the dynamic compliance gait movement to the humanoid robotic foot (100).
  • step 310 initiating, the compliance gait movement of the humanoid robotic foot (100) by using a plurality of actuation units (105), i.e. placed inside the rigid articulated sole member and dynamically adapted in accordance with the surface provided to walk the humanoid robotic foot (100). Further, the humanoid robotic foot is adapted to bent and movable in a predetermined plurality of axis in accordance with the compliance gait movement.
  • the heel section and the toe section are provided with a pivot bearing surface in a sagittal plane of the humanoid robotic foot.
  • step 315 controlling, the plurality of actuation units (105), by a transmission of kinematic energy between the pair of humanoid robotic foot (100) using a microcontroller (110), dynamically, which is placed inside a humanoid robot.
  • the plurality of actuation units (105) is selected from a group of, but not limited to, a linear actuation unit, a rotational actuation unit and an electric actuation unit.
  • the heel section and the toe section are connected via a plurality of movable brackets (125), a plurality of horns (130), and the actuation units (105).
  • the present invention is intended to increase the gait efficiency of the humanoid robot by eliminating the bending of knees in a gait movement of a humanoid robot as well as create a unique gait mechanism to the humanoid robot.
  • the size and dimension of whole parts of the assembly can be manufactured as per the requirement of the producer.
  • the joints provided between the toe section and the heel section contributes to an artificial intelligence and inverse kinematics mechanism which reduce the heat production, battery power consumption and additional means of energy consumed by the actuation units in the idle mode and the microcontroller.
  • the structure is having removable parts that can be easily replaced in case of further damage or manipulation without disconcerting other attachments, eventually, which makes the present invention very economical in use.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un pied robotique humanoïde (100) ayant un mouvement de pied similaire à un niveau d'être humain pour un robot humanoïde, qui comprend un noyau articulé de pied rigide conçu pour réaliser le pied robotique humanoïde (100), au moins une unité d'actionnement (105) configurée pour produire un mouvement de démarche au noyau articulé, et au moins un moyen (110) servant à commander le mouvement de démarche des unités d'actionnement (105) en déterminant une trajectoire de point de moment zéro prédéfinie par rapport à un centre de gravité associé, de manière dynamique pour un robot humanoïde. Le noyau articulé de pied rigide comprend en outre un élément de support de semelle ayant une pluralité d'articulations reliées entre une section d'orteil (115) et une section de talon (120) du robot humanoïde. L'unité d'actionnement (105) est configurée pour traiter une information de données en utilisant un microcontrôleur (110) en fonction d'une entrée de données définie par l'utilisateur. De plus, la présente invention est de construction durable et elle est en même temps très économique à produire.
PCT/IN2017/050396 2016-09-16 2017-09-14 Pied robotique ayant un mécanisme d'actionnement des orteils pour un robot humanoïde et son procédé de construction WO2018051365A1 (fr)

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IN201611031618 2016-09-16
IN201611031618 2016-09-16

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WO2018051365A1 true WO2018051365A1 (fr) 2018-03-22

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109305240A (zh) * 2018-10-15 2019-02-05 哈尔滨理工大学 一种用于斜坡环境下的爬行机器人足部结构
CN111976928A (zh) * 2020-04-30 2020-11-24 中船第九设计研究院工程有限公司 一种水下行走机构的平衡监测系统
CN112644600A (zh) * 2021-01-04 2021-04-13 之江实验室 一种具有主动地形感知能力的双足机器人仿生足部系统

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1018467A1 (fr) * 1996-07-25 2000-07-12 Honda Giken Kogyo Kabushiki Kaisha Dispositif de reproduction de la demarche pour robot articule muni de jambes
EP2208583A1 (fr) * 2002-02-18 2010-07-21 Japan Science and Technology Agency Organe de commande pour un dispositif locomoteur marchant sur deux jambes

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1018467A1 (fr) * 1996-07-25 2000-07-12 Honda Giken Kogyo Kabushiki Kaisha Dispositif de reproduction de la demarche pour robot articule muni de jambes
EP2208583A1 (fr) * 2002-02-18 2010-07-21 Japan Science and Technology Agency Organe de commande pour un dispositif locomoteur marchant sur deux jambes

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109305240A (zh) * 2018-10-15 2019-02-05 哈尔滨理工大学 一种用于斜坡环境下的爬行机器人足部结构
CN111976928A (zh) * 2020-04-30 2020-11-24 中船第九设计研究院工程有限公司 一种水下行走机构的平衡监测系统
CN111976928B (zh) * 2020-04-30 2022-09-09 中船第九设计研究院工程有限公司 一种水下行走机构的平衡监测系统
CN112644600A (zh) * 2021-01-04 2021-04-13 之江实验室 一种具有主动地形感知能力的双足机器人仿生足部系统
CN112644600B (zh) * 2021-01-04 2022-03-25 之江实验室 一种具有主动地形感知能力的双足机器人仿生足部系统

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