CN101116970A - Anthropomorphic robot in series connection - Google Patents
Anthropomorphic robot in series connection Download PDFInfo
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- CN101116970A CN101116970A CNA2007101207019A CN200710120701A CN101116970A CN 101116970 A CN101116970 A CN 101116970A CN A2007101207019 A CNA2007101207019 A CN A2007101207019A CN 200710120701 A CN200710120701 A CN 200710120701A CN 101116970 A CN101116970 A CN 101116970A
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Abstract
The invention relates to a series humanoid robot, belonging to the robot field. The invention adopts a digital servo motor as a joint driving device; carbon fiber material is used to design a carbon fiber double-pipe structure and is used on structural parts such as backbone, big arm, small arm, thigh and calf; a similar joint frame type of structure is adopted to design a trunk so as to improve the structural intensity and stability; a pull spring mechanism is used to design a head buffer device so as to enhance the impact resistance of the head; finally a nineteen free DEG C series humanoid robot is realized, which is big in dimension, light in mass, strong in motion flexibility and has a head buffer mechanism. The invention solves the problems of the previous humanoid robot, the motor of which has too much load, is hard to control and is easily burn due to the overweight of the self structure, and provides an effective solution to the protection of the head when the robot falls down or is collided.
Description
Technical field
The invention belongs to the robot field, relate in particular to a kind of anthropomorphic robot in series connection.
Background technology
Along with the continuous development of science and technology, anthropomorphic robot has become emphasis, difficult point and the focus in robot research field gradually.The scientific research kind of carrying out on the anthropomorphic robot platform also is tending towards diversity, wherein substantially the most most important Electric Machine Control and the gait planning that surely belongs to robot.Aspect the serial machine people, Japanese Honda company brings in constant renewal in and regenerates through the research in 21 years, has finally released the ASIMO of robot.This robot whole body adopts the serial mechanism form, and every leg comprises 6 frees degree, can finish actions such as walking, turning and stair activity.But the gross weight of ASIMO surpasses 50kg, and data show, most heights are higher than one meter anthropomorphic robot, its gross weight all will surpass 50kg, this bearing capacity to the joint drive motors has proposed very high requirement undoubtedly, bring certain degree of difficulty to Electric Machine Control, even when operation is incorrect, be easy to cause the serious consequence of burn-down of electric motor.Present most anthropomorphic robot is that high-power servomotor is worn the harmonic gear deceleration system in the way of taking aspect the driving of joint, and this solution has been brought the cost height undoubtedly, and weight is big, problems such as inconvenient operation.
In addition, the another kind of common disabler pattern of anthropomorphic robot is part or plant machinery breakage, and this respect is the most common with robot head especially.Because robot the walking or motion process in, head and ground distance farthest, if fall down or with other object collision, in most cases impact velocity is the fastest, the position of impulsive force maximum is a robot head.For reducing the infringement that therefore brings, the common solution of researcher is that sensors such as mounted angle meter, accelerometer, gyroscope change with the attitude of real-time monitoring robot on one's body robot, as detect and be about to fall down, in time avoid falling down with adjustment by sending action and the attitude that the corresponding action order changes robot, the loss that may cause after maybe will falling down reduces.But this solution that depends on sensor circuit or software program must not reach robot manipulation's reliability requirement, and either party goes wrong circuit and program and all may cause robot to fall down the back to take place badly damaged.Therefore, even if this one deck protection is arranged, the researcher still should seek to derive from the most reliable guarantee of mechanical aspects.
Summary of the invention
Problems such as existing multiple degrees of freedom anthropomorphic robot development cost height, weight are big in order to overcome, inconvenient operation, and avoid the invention provides a kind of novel lightweight anthropomorphic robot in series connection with head buffer gear owing to fall down or collide the generation that causes situations such as robot damage.
The technical solution adopted for the present invention to solve the technical problems is as follows: anthropomorphic robot in series connection whole body provided by the invention is divided into trunk, head and four limbs, is made of 1 free degree of head wherein, 3 frees degree of arm, 6 frees degree of shank 19 frees degree.Wherein the hip joint of shank is quadrature Three Degree Of Freedom joint, and the ankle-joint of shank and the shoulder joint of arm are the quadrature two-freedom degree joint, and all frees degree all adopt digital servomotor to realize.
19 frees degree of robot whole body all adopt volume little, in light weight, self are with the digital servomotor of multi-stage gear reducing gear to realize, its output rotating disk directly connects the moving component that is driven by digital servomotor.Be fixedly coupled part with motor and motor output rotating disk and all adopt aluminum alloy materials processing, and suitably punch thereon and remove the material that the design of part strength and stiffness is not had contribution, farthest to alleviate pts wt.The structural member of robot itself as robot vertebra, big arm, forearm, thigh and shank, all adopts the carbon fiber pipe design of hollow.The concrete high strength of this composite, low-density mechanical property can the alternative metals materials in certain applications of the present invention.The cross sectional dimensions parameter of pipe makes pipe all reach desirable requirement aspect intensity and the weight two through optimal design.For avoiding causing part to move axially or rotate around carbon fiber pipe along carbon fiber pipe owing to impacting, parallel double tubular type structure is adopted in design, and two-tube two ends are inserted a metal flexible element respectively, and drive the flexible element distortion with screw again, make it clamp carbon fiber pipe and play effect fixing and that strengthen.
The head mechanism design of robot has spring bumper, and under the normal condition, head is stable remaining on the initial spacing position under the pulling force effect of two tension springs.When robot runs into collision or falls down situation, when head was subjected to backward impulsive force, the integral head structure can rotate backward in the rotating shaft on buffer unit, further elongates tension spring simultaneously, makes its storage power and reduces the head mechanism vibration; When the external force that acts on robot head was cancelled, tension spring recovered shape, released energy, and head is gone back to original normal spacing position and keeps stable.
It is as follows that the present invention and present technology are compared beneficial effect:
This robot is under the prerequisite that guarantees high strength and multi joint motion flexibility, adopted volume little, in light weight, and carry the type of drive of the digital servomotor of reduction gearing as joint freedom degrees, and adopted in a large number and had high strength, low-density carbon fiber pipe is as structural member, and the shape and the quality of metal parts carried out optimal design, thereby the weight that has alleviated robot integral body of very big degree, improve the kinematic dexterity and the operability of robot, reduce the load of structure member, thereby reduce the difficulty of robot motor's control and gait planning the joint drive motors.Robot head has preferably adopted the buffer gear design, can effectively reduce because external environment changes the infringement that robot head machine components and inner vision sensor are caused, it is badly damaged effectively to avoid robot to take place when falling down or collide, thereby improves robot motion's ability and reliability.In addition, the researcher can also change the overall dimensions of robot easily by the length of adjusting carbon fiber pipe, to carry out the experimental study of different demands.
Description of drawings
Fig. 1 is a robot of the present invention overall schematic.
Fig. 2 and Fig. 3 are carbon fiber parallel double tubular type structure of the present invention.
Fig. 4 is a robot of the present invention trunk schematic diagram.
Fig. 5 is a robot arm schematic diagram of the present invention.
Fig. 6 is a robot of the present invention shank schematic diagram.
Fig. 7 and Fig. 8 are robot head schematic diagram of the present invention.
Among the figure: the 1-carbon fiber pipe; 2-metal flexible element; 3-nylon plug; 4-flexible element pinching screw; 5-trunk carbon fiber pipe; The 6-neck joint reverses motor output panel connector; 7-shoulder joint forward swing motor cabinet; Pendulum motor before the 8-shoulder joint; 9-trunk structure reinforcement; The 10-connector; The 11-hip joint reverses motor; The 12-hip joint reverses motor cabinet; Pendulum motor connects the output panel fitting before the 13-shoulder joint; 14-shoulder joint side-sway motor; 15-shoulder joint side-sway motor cabinet; The big arm carbon fiber pipe of 16-; Pendulum motor output panel connector before 17-elbow (knee) joint; Pendulum motor before the 18-elbow joint; 19-elbow (knee) joint forward swing motor cabinet; 20-forearm carbon fiber pipe; 21-hip (ankle) joint side-sway motor output panel connector; 22-hip joint side-sway motor; 23-hip (ankle) joint motor conjunction; Pendulum motor before the 24-hip joint; The passive rotating disk in 25-hip (ankle) joint; The passive rotating disk holder in 26-hip (ankle) joint; Pendulum motor output panel connector before 27-hip (ankle) joint; 28-thigh carbon fiber pipe; Pendulum motor before the 29-knee joint; 30-shank carbon fiber pipe; Pendulum motor before 31 ankle-joints; 32-ankle-joint side-sway motor; The 33-sole; The 34-neck joint reverses motor; 35-head cover plate; 36-head cover forward end support member; 37-head cover plate rear end support member; The 38-tension spring; The 39-neck joint reverses motor cabinet; The passive rotating disk of 40-head; The 41-head shell.
The specific embodiment
Fig. 1 is a robot of the present invention overall structure schematic diagram.Robot integral body can be divided into four major parts, is respectively trunk, head, arm and leg, and wherein arm and leg are the left-right symmetry structure.The robot whole body has 19 frees degree, is distributed in following movable joint: 1 of neck joint reverses (Yaw) free degree; 1 forward swing of shoulder joint (Pitch) free degree, 1 side-sway (Roll) free degree, two-freedom is orthogonal to a bit; 1 forward swing free degree of elbow joint; 1 torsional freedom of hip joint, 1 side-sway free degree, 1 forward swing free degree, Three Degree Of Freedom is orthogonal to a bit; 1 forward swing free degree of knee joint; 1 forward swing free degree of ankle-joint, 1 side-sway free degree, two-freedom is orthogonal to 1 point.The height overall 833mm of robot, shoulder breadth 291mm, brachium 366mm, the long 462mm of leg, gross weight 4.1kg wherein comprises metal and carbon fiber and only is 1.8kg in all interior part gross weights.It below is the specific embodiment of each several part.
Figure 2 shows that carbon fiber parallel double tubular type structure of the present invention.Adopt two parallel placements of isometric carbon fiber pipe, a metal flexible element 2 is overlapped at two ends respectively, fill in 3 of nylon plugs supports and booster action in the termination of every carbon fiber pipe, leave circular hole in the middle of the nylon plug in order to inner robot walking power line of carbon fiber pipe and holding wire, be screwed into metal flexible element 2 with screw 4 at last it is fixedly clamped carbon fiber is two-tube.Respectively there are a boss and four screwed holes in two sides of flexible element 2, are used to connect other part.The schematic diagram of metal flexible element is seen Fig. 3.
Figure 4 shows that robot of the present invention trunk structure.Vertebra is made of carbon fiber parallel double tubular type structure 5, and the metal flexible element at two ends is connected with motor cabinet metalwork 7,12 respectively, and 7 are used for fixing before the shoulder joint pendulum motor 8,12 is used for fixing hip joint and reverses motor 11.Centre two-tube 5 is installed with a flexible element 2 in addition, one end of four sheet metal components 9 all is fixed on this flexible element, and the other end connects a motor respectively, thereby changes trunk into similar truss structure by cantilever structure, improve structural strength greatly, strengthened mechanism's whole reliability.Because the spacing of pendulum motor 8 is different from the spacing that two hip joints reverse motor 11 before two shoulder joint, distance is identical between the upper and lower so design connector 10 makes, and has interchangeability to guarantee four sheet metal components 9.All metalwork all punches and removes the material that structural strength is not had contribution, alleviates pts wt.Motor 8 is connected arm and leg respectively with 11 output rotating disk.
Figure 5 shows that robot arm configuration of the present invention (left arm).Metalwork 13 is connected with the output rotating disk of the preceding pendulum motor 8 of shoulder joint in the trunk, and when motor 8 work, metalwork 13 drives entire arms and swings forwards, backwards.This metalwork 13 output rotating disk of shoulder joint side-sway motor 14 that also is fixedly clamped makes motor 14 itself can drive arm to inside and outside swing simultaneously.Robot ' s arm is made of carbon fiber parallel double tubular type structure 16, and its upper end is fixing with side-sway motor 14 by pair of metal part 15, and the lower end is fixed by the output rotating disk of pendulum motor 18 before pair of metal part 17 and the elbow joint.The robot forearm is made of carbon fiber parallel double tubular type structure 20, and its upper end is fixed by the preceding pendulum motor 18 of pair of metal part 19 and elbow joint.When motor 18 work, itself can drive little brachiocylloosis or stretch.
Figure 6 shows that robot of the present invention shank structure (left leg).Metalwork 21 is connected with the output rotating disk that the interior hip joint of trunk reverses motor 11, and when motor 11 work, metalwork 21 drives whole shank and reverses to inside and outside.Hip joint side-sway motor 22 is fixed together by pair of metal part 23 with preceding pendulum motor 24.A passive rotating disk 25 is connected on the metalwork 26 by bearing and correlated parts, can freely rotate relative to it.Metalwork 26 is fixed on the preceding pendulum motor 24 of hip joint, and then by 22,23,24,25,26 constitute the motor integral body that forward swings combine with side-sway, cooperate hip joint to reverse motor 11 again, can realize three quadratures interlocks of hip joint.Side-sway motor output rotating disk connects metalwork 21, and preceding pendulum motor output rotating disk connects pair of metal part 27.The lower end of metalwork 27 connects carbon fiber parallel double tubular type structure 28, constitutes the thigh structure of robot.The metal flexible element 2 of managing 28 lower ends is fixed by the output rotating disk of pendulum motor 29 before pair of metal part 17 and the knee joint.The robot shank is made of carbon fiber parallel double tubular type structure 30, the metal flexible element 2 of its upper end is fixing with knee joint motor forward swing 29 by pair of metal part 19, the lower end and metal flexible element 2 fix by the output rotating disk of pendulum motor 31 before pair of metal part 27 and the ankle-joint.The method of attachment of preceding pendulum motor 31 of ankle-joint and side-sway motor 32 is identical with hip joint, therefore can realize the interlock of ankle-joint diaxon quadrature.The sole metalwork 33 that connects robot below the ankle-joint metalwork 21.So robot whole piece leg has six-freedom degree, for hip joint forward swing, side-sway, reverse the quadrature Three Degree Of Freedom, the knee joint forward swing free degree and ankle-joint forward swing, side-sway quadrature two degrees of freedom.
Figure 8 shows that robot head structure of the present invention.Neck joint reverses the output rotating disk and the interior metalwork 6 of trunk of motor 34 and fixes, and when motor 34 work, motor itself can drive whole head and reverse.A pair of sheet metal component 39 is fixed on the both sides of motor 34, and a pair of passive rotating disk 40 is connected on the above-mentioned a pair of sheet metal component 39 by bearing and correlated parts respectively, can freely rotate relative to them.The head shell of robot is made of a pair of sheet metal component 35, the sheet metal component 36,37 and 41 that is being fixedly clamped therebetween, thus form the integral head structure.The sheet metal component 35 of this structure is fixed with above-mentioned passive rotating disk 40, and can rotate synchronously with rotating disk 40.Between above-mentioned sheet metal component 37 and a pair of sheet metal component 39, fix two tension springs 38, under the pulling force effect of spring, the integral head structure has downward rotation trend with passive rotating disk 40 relative fixed parts 39, and the final stable mechanical position limitation position that remains on, this position is the position that the bending edges of sheet metal component 35 and 39 is in contact with one another, i.e. circled shown in 42 among the figure.Fall down or collide when robot runs into, when head was subjected to backward impulsive force, the integral head structure can rotate backward around its rotating shaft with rotating disk 40, and this moment, two tension springs 38 were stretched, and storage power also alleviates vibration; When external force was cancelled, under the pulling force effect of spring 38, head was got back to initial spacing position once more.The spring buffer mechanism design of this head can effectively reduce because external environment changes the infringement that robot head machine components and inner vision sensor are caused.
Claims (7)
1. anthropomorphic robot in series connection, it is characterized in that: whole body is divided into trunk, head and four limbs, form by 19 frees degree, 1 free degree of head wherein, 3 frees degree of arm, 6 frees degree of shank, wherein the hip joint of shank is quadrature Three Degree Of Freedom joint, the ankle-joint of shank and the shoulder joint of arm are the quadrature two-freedom degree joint, and all frees degree all adopt digital servomotor to realize.
2. anthropomorphic robot in series connection according to claim 1 is characterized in that: described digital servomotor has the multi-stage gear reducing gear, and it is spacing that output shaft has corner.
3. anthropomorphic robot in series connection according to claim 1 is characterized in that: the part of robot adopts aluminium alloy or carbon fiber, wherein is fixedly coupled part with motor and motor output rotating disk and adopts aluminium alloy, and the structural member of robot itself adopts carbon fiber.
4. according to claim 1,2 or 3 described anthropomorphic robot in series connection, it is characterized in that: trunk adopts truss structure.
5. according to claim 1,2 or 3 described anthropomorphic robot in series connection, it is characterized in that: vertebra and four limbs have all adopted carbon fiber parallel double tubular type structure.
6. according to claim 1,2 or 3 described anthropomorphic robot in series connection, it is characterized in that: head adopts tension spring design buffer unit.
7. according to claim 1,2 or 3 described anthropomorphic robot in series connection, it is characterized in that: control system and attitude transducer are fixed in robot behind, and vision sensor is installed in robot head, and battery is fixed on the robot foot plate upper surface.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101207019A CN101116970A (en) | 2007-08-24 | 2007-08-24 | Anthropomorphic robot in series connection |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101207019A CN101116970A (en) | 2007-08-24 | 2007-08-24 | Anthropomorphic robot in series connection |
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| CN101116970A true CN101116970A (en) | 2008-02-06 |
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| CNA2007101207019A Pending CN101116970A (en) | 2007-08-24 | 2007-08-24 | Anthropomorphic robot in series connection |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN102058984A (en) * | 2009-11-17 | 2011-05-18 | 孙杰 | Dancing robot for education and entertainment |
| CN102419926A (en) * | 2011-11-09 | 2012-04-18 | 北京联合大学 | Three degree-of-freedom cascading humanoid robot |
| CN102525693A (en) * | 2012-01-18 | 2012-07-04 | 山东科技大学 | Steering engine driving type shoulder disarticulation type upper prosthesis |
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN103072136A (en) * | 2012-12-28 | 2013-05-01 | 北京中科智恒科技有限公司 | Robot applied to protective material testing system |
| CN103386692A (en) * | 2013-07-30 | 2013-11-13 | 北京邮电大学 | Novel robot carbon fiber arm lever designing and manufacturing method |
| CN103395070A (en) * | 2013-07-30 | 2013-11-20 | 北京邮电大学 | Novel processing technology with size and shape precision control for carbon fiber arms of robots |
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| CN103770116A (en) * | 2014-01-13 | 2014-05-07 | 西北农林科技大学 | Seventeen-degree humanoid robot |
| CN105346618A (en) * | 2015-11-20 | 2016-02-24 | 清华大学 | Flat ground walking method of biped robot with upper body based on serial elastic drivers |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105690419A (en) * | 2016-03-31 | 2016-06-22 | 北京钢铁侠科技有限公司 | Hip joint and ankle joint general mechanism and humanoid robot |
| CN106043488A (en) * | 2015-04-21 | 2016-10-26 | 电子科技大学 | Home service robot |
| CN106143665A (en) * | 2015-04-21 | 2016-11-23 | 电子科技大学 | Trunk mechanism of a kind of flexible robot |
| CN106313101A (en) * | 2016-10-16 | 2017-01-11 | 福州幻科机电科技有限公司 | Shoulder joint assembly of simulation intelligent robot |
| CN106335075A (en) * | 2016-10-16 | 2017-01-18 | 福州幻科机电科技有限公司 | Structure of bone joints of whole body of intelligent simulation robot |
| CN106426263A (en) * | 2016-10-16 | 2017-02-22 | 福州幻科机电科技有限公司 | Hip joint assembly of simulation intelligent robot |
| CN106493738A (en) * | 2016-10-26 | 2017-03-15 | 河南工业大学 | A kind of assiatant child with both legs walk apery educational robot |
| WO2017049915A1 (en) * | 2015-09-22 | 2017-03-30 | 厦门匠客信息科技有限公司 | Robot and control method therefor |
| CN108128366A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | A kind of humanoid wheeled robot with suspended structure |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN109288650A (en) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | The independent used movable lower limb training of wearer and auxiliary intelligent apparatus |
| CN111267991A (en) * | 2020-01-19 | 2020-06-12 | 之江实验室 | Design method for lower limb structure size of biped robot |
| CN111386181A (en) * | 2017-11-24 | 2020-07-07 | 川崎重工业株式会社 | Hip joint structure of robot |
| CN113146621A (en) * | 2021-03-17 | 2021-07-23 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
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2007
- 2007-08-24 CN CNA2007101207019A patent/CN101116970A/en active Pending
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| CN102058984A (en) * | 2009-11-17 | 2011-05-18 | 孙杰 | Dancing robot for education and entertainment |
| CN101850554A (en) * | 2010-04-30 | 2010-10-06 | 东南大学 | Low-noise humanoid robot head system |
| CN102419926A (en) * | 2011-11-09 | 2012-04-18 | 北京联合大学 | Three degree-of-freedom cascading humanoid robot |
| CN102525693A (en) * | 2012-01-18 | 2012-07-04 | 山东科技大学 | Steering engine driving type shoulder disarticulation type upper prosthesis |
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| CN103452996A (en) * | 2012-05-30 | 2013-12-18 | 宁波江丰电子材料有限公司 | Assembling method of mechanical parts |
| CN103029130A (en) * | 2012-12-05 | 2013-04-10 | 长春工业大学 | Humanoid robot |
| CN103072136B (en) * | 2012-12-28 | 2015-11-18 | 北京中科智恒科技有限公司 | A kind of robot being applied to protective materials test macro |
| CN103072136A (en) * | 2012-12-28 | 2013-05-01 | 北京中科智恒科技有限公司 | Robot applied to protective material testing system |
| CN103386692A (en) * | 2013-07-30 | 2013-11-13 | 北京邮电大学 | Novel robot carbon fiber arm lever designing and manufacturing method |
| CN103395070A (en) * | 2013-07-30 | 2013-11-20 | 北京邮电大学 | Novel processing technology with size and shape precision control for carbon fiber arms of robots |
| CN103386692B (en) * | 2013-07-30 | 2016-04-06 | 北京邮电大学 | A kind of robot carbon fiber armed lever design and production method |
| CN103659818A (en) * | 2013-12-03 | 2014-03-26 | 西北农林科技大学 | 10-DOF floor exercise robot |
| CN103770116A (en) * | 2014-01-13 | 2014-05-07 | 西北农林科技大学 | Seventeen-degree humanoid robot |
| CN103770116B (en) * | 2014-01-13 | 2016-08-17 | 西北农林科技大学 | A kind of ten seven freedom anthropomorphic robots |
| CN106043488A (en) * | 2015-04-21 | 2016-10-26 | 电子科技大学 | Home service robot |
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| WO2017049915A1 (en) * | 2015-09-22 | 2017-03-30 | 厦门匠客信息科技有限公司 | Robot and control method therefor |
| CN105346618A (en) * | 2015-11-20 | 2016-02-24 | 清华大学 | Flat ground walking method of biped robot with upper body based on serial elastic drivers |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
| CN105690419B (en) * | 2016-03-31 | 2019-04-23 | 北京钢铁侠科技有限公司 | Hip joint and ankle-joint current mechanism and anthropomorphic robot |
| CN105690419A (en) * | 2016-03-31 | 2016-06-22 | 北京钢铁侠科技有限公司 | Hip joint and ankle joint general mechanism and humanoid robot |
| CN106313101A (en) * | 2016-10-16 | 2017-01-11 | 福州幻科机电科技有限公司 | Shoulder joint assembly of simulation intelligent robot |
| CN106335075A (en) * | 2016-10-16 | 2017-01-18 | 福州幻科机电科技有限公司 | Structure of bone joints of whole body of intelligent simulation robot |
| CN106426263A (en) * | 2016-10-16 | 2017-02-22 | 福州幻科机电科技有限公司 | Hip joint assembly of simulation intelligent robot |
| CN106493738A (en) * | 2016-10-26 | 2017-03-15 | 河南工业大学 | A kind of assiatant child with both legs walk apery educational robot |
| CN111386181A (en) * | 2017-11-24 | 2020-07-07 | 川崎重工业株式会社 | Hip joint structure of robot |
| CN111386181B (en) * | 2017-11-24 | 2024-03-12 | 川崎重工业株式会社 | Femoral joint structure of robot |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN108128366A (en) * | 2017-12-29 | 2018-06-08 | 江苏集萃智能制造技术研究所有限公司 | A kind of humanoid wheeled robot with suspended structure |
| CN109288650A (en) * | 2018-07-31 | 2019-02-01 | 电子科技大学 | The independent used movable lower limb training of wearer and auxiliary intelligent apparatus |
| CN111267991A (en) * | 2020-01-19 | 2020-06-12 | 之江实验室 | Design method for lower limb structure size of biped robot |
| CN111267991B (en) * | 2020-01-19 | 2021-05-11 | 之江实验室 | Design method for lower limb structure size of biped robot |
| CN113146621A (en) * | 2021-03-17 | 2021-07-23 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
| CN113146621B (en) * | 2021-03-17 | 2022-07-15 | 深圳市优必选科技股份有限公司 | Robot control method, device, robot and computer readable storage medium |
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