An ankle structure for humanoid robot using two cylindrical linear series elastic actuator parallely

摘要

The present invention relates to a humanoid robot or an auxiliary muscle device that uses a pair of elastic actuators in parallel to form a robot ankle structure, comprising: a foot of the robot, a pair of SEAs disposed in parallel on the top of the foot of the robot, Each of the pair of SEAs is connected to one point to form a three-point support structure, and the shank portion for supporting the pair of SEAs, connecting the support shaft of the pair of SEA and the upper end of the support shaft of the shank portion It provides a robot ankle structure comprising a first coupling and a second coupling connected via the foot of the robot and connecting the support shaft of the pair of SEA and the lower end of the support shaft of the shank portion.