HUMANOID ROBOT FOOTS HAVING MULTI-PLATFORMS OF PARALLEL STRUCTURE

摘要

A humanoid robot foot having a parallel mechanism type multi-platform is provided to support heavy load caused by gravity and inertia of a robot by using a parallel mechanism that performs a multi-axis motion of a sole of the robot. A humanoid robot foot having a parallel mechanism type multi-platform comprises a base. An intermediate platform(10) includes a parallel mechanism that generates 2-freedom rotary movement by locating two active translation articulations on the base. A front-left platform(12) comprises a chain having serial articulations including 1-freedom active translation articulations having an upper end fixed to one side of the front portion of the base. A front-right platform(11) comprises a chain having serial articulations including 1-freedom active translation articulations having an upper end fixed to the other side of the front portion of the base. A rear platform(14) comprises a chain having serial articulations including 1-freedom active translation articulations having an upper end fixed to the rear portion of the base.