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 which uses a pair of elastic actuators in parallel to form a robot ankle structure. Provided is the robot ankle structure comprising: a foot of a robot; a pair of SEAs arranged in parallel on an upper end of the foot of the robot; a shank part connected to the pair of SEAs by each of one point to form a three-point support structure supporting the pair of SEAs; a first coupling ring for connecting a support shaft of the pair of SEAs and an upper end of a support shaft of the shank part; and a second coupling ring connected through the foot of the robot and connecting the support shaft of the pair of SEAs and a lower end of the support shaft of the shank part.