CN101850794A - Frog jump robot - Google Patents

Frog jump robot Download PDF

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Publication number
CN101850794A
CN101850794A CN 201010194799 CN201010194799A CN101850794A CN 101850794 A CN101850794 A CN 101850794A CN 201010194799 CN201010194799 CN 201010194799 CN 201010194799 A CN201010194799 A CN 201010194799A CN 101850794 A CN101850794 A CN 101850794A
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China
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robot
joint
slide block
motor
links
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CN 201010194799
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Chinese (zh)
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CN101850794B (en
Inventor
左国玉
孙荣毅
王冠
乔俊飞
龚道雄
张铁林
李志�
龚萍
张姗珊
袁星柢
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北京工业大学
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Abstract

The invention discloses a frog jump robot. A motor is used as a power element; devices such as an overrunning clutch, a gear toothed belt and the like are used as transmission mechanisms; a slide block can move on a guide rail under the drive of the motor through the transmission devices; and double legs of the robot stretch or retract under the drive of the slide block so as to finish jump motion. After the robot jumps, the double legs immediately retract to perform air posture adjustment, and the double legs are fully retracted by using self gravity potential and kinetic energy at the monument of landing to perform posture adjustment again. The energy utilization rate of the power element is improved, reclamation and reutilization of energy during jumping are realized, the flexibility of the robot is increased, and the jumping capability of the robot is promoted.

Description

A kind of frog jump robot
Technical field
The present invention relates to the robot device, relate in particular to a kind of robot device who jumps.
Background technology
Along with the continuous development of Robotics, when facing the landform of rugged environment and complexity, the spring function of utilization robot strengthens its landform and adapts to and paleocinetic ability, is a kind of faster Robotics of development in recent years.Robot with anti-pumping performance still is in conceptual phase at present in the world, also only have indivedual universities and colleges to carry out correlative study at home.Because it is very big that this robotlike develops difficulty, a lot of gordian technique confidentiality that relate to are very strong, so open source information seldom.
In the world, spring robot the earliest is successful at MIT machine people laboratory development in 1980 by Raibert, this robot belongs to the continuity hopping mechanism, Raibert has analyzed monopodia hopping robot's take-off attitude control and the empty location algorithm problem of group when landing, obtain some theoretical research result at present, in the laboratory, realized independently stablizing functions such as jump, obstacle detouring.
At home, at the beginning of 2003, Nanjing Aero-Space University mainly carries out systematic research to hopping robot's scheme of now having announced in the world, and according to the theoretical model machine of having made several hopping robots of part.Recent years, Northwestern Polytechnical University has also carried out relevant project research with Harbin Institute of Technology, the former mainly imitates kangaroo hopping robot's research, the latter mainly prevents the research of locust jumping robot, and the comparatively ripe in the world jump theory of both's utilization has been carried out coherent analysis.
Application for a patent for invention number specially discloses a power system of jump robot for ZL200810017792.8's, brshless DC motor is linked to each other with gear type pump, the oil inlet of gear type pump links to each other with fuel tank, the oil outlet of gear type pump links to each other with the A mouth that two-position four-way is put this change-over valve, the B mouth of two-position four-way solenoid directional control valve inserts fuel tank, the P mouth that two-position four-way is put this change-over valve is connected with the last accent of hydraulic actuating cylinder, and the T mouth of putting this change-over valve is connected with the following accent of hydraulic actuating cylinder; Wherein in the epicoele of hydraulic actuating cylinder spring is installed, spring one end is resisted against inwall on the hydraulic actuating cylinder, and the other end is resisted against on the hydraulic cylinder piston upper arm.
It is perfect that this scheme exists following several respects to still need:
1, in power system when work, need link to each other with fuel tank by oil pipe, the limitation of length of oil pipe the scope of robot movable.
2, the power consumption of element such as gear type pump, electromagnetic valve is too many, has reduced energy utilization ratio.
3, the quality of hydraulic actuating cylinder is very big, and hydraulic actuating cylinder is when work simultaneously, and its inside has been full of oil, has further increased its quality, is installed in the total quality that certainly will increase robot on the robot health, has reduced the height and distance that jumps.
4, the mechanical movement scope of piston is subjected to the restriction in hydraulic cylinder cavity space, thereby has limited the range of movement of robot shank.
Summary of the invention
In order to make robot in jump process, can obtain to produce shockingly to have an effect, improve the action radius of robot, improve the power system capacity usage ratio, and realize that power system is to problems such as the recovery of energy and utilizations again, the invention provides a kind of frog jump robot, its power system has low in power consumption, can in jump process, energy-storage travelling wave tube be arrived in other forms of energy recovery, and utilize once more, this robot architecture is simple simultaneously, and can control robot both legs synchronous working, improved the stationarity that robot jumps, be suitable for jumping continuously.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of frog jump robot is characterized in that, comprising:
One actuating unit is made up of coder, motor, left and right sides hip joint, double rolling key clutch, cog belt, belt wheel, sliding bar, spring, guide rail and slide block.Link to each other by coupler is coaxial with double rolling key clutch at motor, cog belt is housed on the double rolling key clutch, the other end of cog belt is equipped with belt wheel, and belt wheel links to each other with incremental encoder is coaxial.The lower end and the sliding bar of cog belt are fixed, and the sliding bar two ends link to each other with slide block respectively, and slide block is placed on the guide rail, are connected with spring in the middle of slide block and hip joint.Motor drives cog belt by double rolling key clutch and rotates, and cog belt and then drive slide bar seesaw.
Two shank mechanisms, link to each other with slide block with the left and right sides hip joint of actuating unit respectively, form by thigh, big leg connecting rod, hound, middle joint, knee joint, little leg connecting rod, shank and ankle-joint, the thigh upper end links to each other with hip joint, the lower end links to each other with knee joint, the intermediate connecting rod upper end links to each other with slide block, the lower end links to each other with middle joint, middle joint is positioned at big midleg, the shank upper end links to each other with knee joint, the lower end links to each other with ankle-joint, joint and knee joint in the middle of big leg connecting rod two ends are articulated in respectively, and shank connecting rod two ends are articulated in knee joint and ankle-joint respectively;
Two foot mechanisms link to each other with the ankle-joint of both legs respectively, adopt sector structure, and the bottom is pasted with foot pad and pressure sensor.
One treater links to each other with motor, coder, pressure sensor respectively, by the signal of calculation code device and pressure sensor feedback, the motion of control motor.
The present invention adopts motor as dynamical element, and utilizes the motor direct-drive energy-storage travelling wave tube.As preferred version of the present invention, this mechanism motor adopts servomotor, himself have current feedback, speed feedback and position feedback function, the accuracy and stability of control have been improved, and it also has auto-lock function, can make tension spring keep deformation, realize the storage of energy-storage travelling wave tube realization energy.Its beneficial effect is the physical construction of having simplified power system, has improved capacity usage ratio, has improved the particularity of actuating unit control.
The present invention adopts the driver element of overriding clutch as motor and tension spring, and when the motor left-hand revolution, overriding clutch is in " synchronously " state, transfer torque in the counterclockwise direction; When the motor self-locking, overriding clutch is in " synchronously " state in the clockwise direction, is in " surmounting " state in the counterclockwise direction, and can be rotated by external force down in the counterclockwise direction its this moment; When a certain angle of motor clickwise, double rolling key clutch is in " surmounting " state in the clockwise direction, makes tension spring break away from electric machine control, recovers deformation, and it will be rotated in a clockwise direction this moment.Its beneficial effect is the energy storage that can artificially arbitrarily control energy-storage travelling wave tube and release and can move, and has increased the particularity that power system is controlled.
The spring that the present invention adopts is a tension spring, and tension spring can be used as the energy-storage travelling wave tube as power system, and spring-mass is light, and can provide bigger force of explosion in moment, and the controllability of spring is very strong, can compress it at any time.Increased the controllability of actuating unit.
The present invention adopt coder as slide block speed detect and position detecting element, it is by detecting the number of turns and the rotating speed of belt wheel rotation, send signal to treater, after handling it, treater can calculate the Position And Velocity of the current motion of slide block, and then extrapolate current attitude of robot both legs and movement tendency, and increase feedback element, constitute the closed loop control system of position and speed, increase the particularity of power system control, promoted the control effect.
Two slide blocks about the two ends of sliding bar connect respectively among the present invention promptly use a sliding bar to control two slide blocks simultaneously and are synchronized with the movement, thereby have guaranteed the coordinate synchronization of robot two legs actions.Its beneficial effect is to make skip motion more stable, has increased the stability of robot.
Pressure sensor is equipped with in the present invention at the bottom of robot foot, its pressure signal at the bottom of with robot foot sends treater to, and treater judges according to the pressure signal of current robot sole current robot is in which kind of state of kinematic motion in the jump process.Treater can perception robot " ground Take-off Stage ", the different motion state of " airflight stage ", " landing period ", for relevant control provides information.
The present invention carries out the aerial statue adjustment immediately behind the take-off built on stilts, the both legs of full extension are retracted to a certain particular pose.Improve the terrain clearance that robot jumps, strengthened the obstacle climbing ability of robot.
The present invention utilizes gravitional force of self and kinetic energy that tension spring is stretched fully in the moment of landing, thereby finishes the contraction fully of shank mechanism.Its beneficial effect is, with gravitional force and the recover kinetic energy of self, is stored in the tension spring in the mode of elastic potential energy, realized the recovery of energy and utilized, alleviated effectively simultaneously to land the rigid shock of moment.
When the present invention worked, detailed process was as follows:
1, holds the power stage: the motor left-hand revolution, overriding clutch is in " synchronously " state, transfer torque in the counterclockwise direction, drive the cog belt left-hand revolution by belt wheel, this moment, sliding bar was to moving away from motor drive direction, the slide block tension spring that stretches under the effect at sliding bar on the guide rail, leg structure begin to shrink under the effect of slide block.Coder feeds back to treater with the position signal and the speed signal of slide block, and pressure sensor is given treater with robot foot bottom pressure signal feedback.When slide block movement during to distal-most end, tension spring has the largest deformation amount, and shank has been finished whole contractive action, and treater is judged shank according to the signal of feedback and shunk fully, thereby controls the motor self-locking.So far, robot is in the state of saving up strength to start out
2, ground Take-off Stage: motor clickwise certain angle, overriding clutch is in " surmounting " state in the clockwise direction, and whole drive system is retrained by motor no longer, and spring recovers deformation rapidly, slide block forwards slides rapidly, and shank mechanism stretches rapidly under the drive of slide block.Treater determines that according to the signal of sensor feedback the state of kinematic motion of current robot is " ground Take-off Stage ".When tension spring recovers deformation fully, slide block movement to guide rail foremost, shank mechanism this moment full extension, robot rises to the sky.
3, the aerial statue adjusting stage: liftoff instant, pressure sensor at the bottom of the robot foot is passed to treater with liftoff signal, treater control motor left-hand revolution, overriding clutch is in " synchronously " state in the counterclockwise direction, transmit Motor torque, make sliding bar holder orientation motion forward under the drive of cog belt, slide block stretching tension spring, and shank mechanism simultaneously begins to shrink under the drive of slide block.When slide block movement to apart from the front frame certain position time, coder is passed to treater with the slide position signal, the self-locking of treater control motor, robot was finished half aloft and was received the leg action this moment.
4, the landing attitude adjusting stage: land moment, pressure sensor at the bottom of the robot foot is passed to treater with approaching signal, treater control motor continues self-locking, and overriding clutch is in " synchronously " state in the clockwise direction, is in " surmounting " state in the counterclockwise direction.Robot utilizes self gravitation to make shank mechanism finish the continuation contractive action in landing mission, and this moment, slide block continued holder orientation motion forward, cog belt right-hand revolution under the drive of sliding bar simultaneously under the effect of shank mechanism.When shank shrank under the self gravitation effect fully, slide block had moved to the guide rail distal-most end, and robot landing attitude adjusting stage this moment finishes.
The present invention compares with existing hopping robot, can obtain following beneficial effect:
The present invention has simplified the physical construction of power system, by the quantity of dissipative cell in the minimizing system, thereby has improved the capacity usage ratio of system.
The present invention cooperatively interacts by motor and overriding clutch, the energy storage that can artificially arbitrarily control energy-storage travelling wave tube with release and can move, improved the controllability and the particularity of system.
The present invention by pressure sensor can the perception robot the different motion state, for relevant control provides information.At last, the present invention has improved the terrain clearance that robot jumps, and then has strengthened obstacle climbing ability by the aerial statue adjustment; By the landing attitude adjustment, realized the recovery of energy and utilized again, alleviated effectively simultaneously and landed the rigid shock of moment, thereby increased the stability of jumping.
Description of drawings
Fig. 1 is a kind of frog jump robot structural representation
Fig. 2 is a kind of frog jump robot foot pressure sensor scheme drawing
Fig. 3 shrinks scheme drawing fully for a kind of frog jump robot
Fig. 4 is a kind of frog jump robot full extension scheme drawing
Fig. 5 is the frog jump robot control flow chart
Fig. 6 is a frog jump robot power system workflow diagram
Fig. 7 is a frog jump robot jump process scheme drawing
Fig. 8 is a frog jump robot jump state transition diagram
Fig. 9 is a frog jump robot jump process exploded drawings
Among the figure, the 1-after poppet; The 2-hip joint, 2.1-hip joint sleeve 2.2-hip joint lower sleeve; The 3-motor; The 4-motor cabinet; The 5-coupler; The 6-overriding clutch; The 7-clutch base; The 8-cog belt; The 9-tension spring; The 10-slide block; 11-slide bar sleeve; The 12-sliding bar; The 13-attaching parts; The 14-guide rail; 15-guide rail sleeve; The 16-front frame; 17-belt wheel seat; The 18-belt wheel; The 19-coupler; The 20-coder; 21-coder seat; The 22-hinge seat; 23-intermediate bar sleeve; The 24-intermediate bar; Joint in the middle of the 25-, joint upper bush in the middle of the 25.1-, joint lower sleeve in the middle of the 25.2-; The 26-thigh; The big leg connecting rod of 27-; The 28-knee joint, 28.1-knee joint upper bush, 28.2-knee joint lower sleeve; The little leg connecting rod of 29-; The 30-shank; The 31-ankle-joint; 32-foot; 33-foot pad; The 34-pressure sensor.Annotate: because the robot health has left-right symmetric,, represent robot left side symmetrical structure with alphabetical A in the drawings, represent robot right side symmetrical structure with letter b for avoiding repeating expression
The specific embodiment
The present invention will be further described below in conjunction with drawings and embodiments.
Device embodiment: as shown in Figure 1, a kind of frog jump robot of the present invention comprises: an actuating unit: mainly be made up of motor 3, overriding clutch 6, cog belt 8, belt wheel 18, coder 20, sliding bar 12, slide block 10, guide rail 14 and tension spring 9.Motor cabinet 4 and clutch base 7 are housed on the after poppet 1, and motor 3 and overriding clutch 6 are individually fixed in motor cabinet 4 and clutch base 7, and motor 3 and overriding clutch 6 are by 5 coaxial linking to each other of coupler.After poppet 1 two ends are affixed with hip joint sleeve 2.1 respectively.Coder seat 21 and belt wheel seat 17 are housed on the front frame 16, and coder 20 and overriding clutch 6 are individually fixed in coder seat 20 and belt wheel seat 17, and belt wheel 18 links to each other by cog belt 8 with overriding clutch 6.Front frame 16 two ends are fixed in guide rail sleeve 15 respectively.Guide rail 14 two ends circumferentially are fixed in hip joint sleeve 2.1 and guide rail sleeve 15 respectively.Be with tension spring 9 on guide rail 14, its two ends link to each other with slide block 10 with hip joint sleeve 2.1 respectively, and slide block 10 bottoms and slide bar sleeve 11 are affixed, and slide bar sleeve 11 is circumferentially affixed with sliding bar 12 two ends.At sliding bar 12 middle parts attaching parts 13 is housed, it is fixing with cog belt 8 lower ends and sliding bar 12.Slide bar sleeve 11 lower ends and hinge seat 22 are affixed, hinge seat 22 is hinged with intermediate bar sleeve 23, intermediate bar sleeve 23 circumferentially is fixed in intermediate bar 24 upper ends, joint upper bush 25.1 in the middle of the lower end circumferentially is fixed in, middle joint lower sleeve 25.2 circumferentially is fixed in thigh 26 middle parts, hip joint lower sleeve 2.2 circumferentially is fixed in thigh 26 upper ends, knee joint upper bush 28.1 circumferentially is fixed in the lower end, joint upper bush 25.1 in the middle of big leg connecting rod 27 upper ends are articulated in, the lower end is articulated in knee joint lower sleeve 28.2, knee joint lower sleeve 28.2 circumferentially is fixed in shank 30 upper ends, ankle-joint upper bush 31.1 circumferentially is fixed in the lower end, shank connecting rod 29 upper ends are articulated in knee joint upper bush 28.1, the lower end is articulated in ankle-joint lower sleeve 31.2, and foot 32 upper ends are fixed in ankle-joint lower sleeve 31.2, and foot pad 33 is housed in foot 32 bottom sides, in the middle of foot pad 33 and foot 32, pressure sensor 34 is housed, as shown in Figure 2.
As shown in Figure 3, frog jump robot shrinks fully, motor 3 self-lockings this moment, overriding clutch 6 is in " synchronously " state in the clockwise direction, slide block 10 has moved to guide rail 14 distal-most end, and tension spring 9 reaches largest variable, and hip joint 2, knee joint 28 and ankle-joint 31 open angles reach minimum value, the robot both legs shrink fully, and center of gravity is reduced to lowest part.
As shown in Figure 4, the frog jump robot full extension, carve at this moment, slide block 10 has moved to from hip joint 2 closest range places, tension spring 9 has recovered deformation fully, hip joint 2, knee joint 28 and ankle-joint 31 open angles reach maxim, and the robot both legs are full extension, center of gravity appreciation highest point.
With reference to Fig. 5, the frog jump robot control flow chart, after powering on, system at first carries out initialization, the robot health shrinks fully simultaneously, if this moment, controller was received the take-off order, then robot carries out ground take-off action, otherwise wait command, when the take-off preprocessor can judge that whether robot finishes the take-off action, if finished the take-off action, then carries out the aerial statue adjustment according to the pressure sensor signal at the bottom of the robot foot.Aloft in the attitude adjustment process, treater can not adjusted action if finish according to judging when the front leg portions attitude whether robot finishes the attitude adjustment, and then robot will be proceeded to adjust.After finishing the attitude adjustment, treater then judges according to the pressure signal at the bottom of the robot foot whether robot has begun to land, if robot has begun to land, then robot carries out the landing attitude adjustment.After robot was finished attitude adjustment action, its body posture returned to complete contraction state again, and at this moment, first hop period finishes, and robot begins to enter next hop period, prepared to receive new take-off order.
As shown in Figure 6, be frog-type robot power system workflow diagram, the motion of controller control servomotor, simultaneously servomotor feeds back to controller by coder 1 (servomotor carries coder) with self tach signal, slide block moves on guide rail under the driving of motor through driving device, coder 2 (being numbered coder shown in 20 among Fig. 1) detects the Position And Velocity information of slide block movement simultaneously, and it is fed back to controller, the robot both legs stretch and contractile motion under the driving of slide block, its actual effect is that robot carries out skip motion by ground in the air, and the pressure sensor of robot foot feeds back to treater with the pressure signal in the vola of robot at this moment.Treater is judged the state of kinematic motion of current robot by coder 1, coder 2 and pressure sensor feedack, thereby makes motor require to carry out work according to control, and then makes robot finish once complete jump process, as shown in Figure 7.
As shown in Figure 8, after once jump finishes, robot will jump next time, in the process of each jump, the state of kinematic motion of robot all is divided into " ground take-off ", " aerial statue adjustment " and " landing attitude adjustment " three states, and its essence of process that robot jumps continuously is exactly the continuous on-cycle processes of these three states, in jump process each time, controller all can be according to the action of current state feedack control robot, thereby jump process is finished smoothly.
As a to b among Fig. 9, when the robot energy storage finishes, when shank shrinks (shown in a among the figure) fully, if robot receives the take-off order, motor clickwise certain angle then, overriding clutch is in anticlockwise direction and is in " surmounting " state, whole drive system is retrained by motor no longer, spring recovers deformation rapidly, and slide block forwards slides rapidly, and shank mechanism stretches rapidly under the drive of slide block.Treater determines that according to the signal of sensor feedback the state of kinematic motion of current robot is " ground Take-off Stage ".When tension spring recovers deformation fully, slide block movement to guide rail foremost, shank mechanism this moment full extension, the robot whole machine body contacts (shown in b among the figure) with the toe by foot's front end between the ground.
As b to c among Fig. 9, after the robot take-off, motor is left-hand revolution immediately, this moment, double rolling key clutch was in " synchronously " state in the counterclockwise direction, overriding clutch passes to cog belt with Motor torque, the cog belt left-hand revolution, and this moment, sliding bar travelled forward, the slide block tension spring that stretches under the effect at sliding bar on the guide rail, leg structure begin to shrink under the effect of slide block.Treater is according to the signal of incremental encoder and pressure sensor feedback, and the state of kinematic motion that robot is current is defined as " aerial statue adjusting stage ".The electric machine control slide block movement to the guide rail behind a certain position, the motor self-locking, the whole health of robot remains on a certain particular pose (shown in c among the figure).
With reference to d to e among Fig. 9, robot is landing moment, and motor continues self-locking, and overriding clutch is in " synchronously " state in the clockwise direction, is in " surmounting " state in the counterclockwise direction.The bearing capacity straight up that robot when landing is subjected to foot is converted into the pulling force of slide block along the guide rail direction, and slide block travels forward along guide rail.Treater is according to the signal of incremental encoder and pressure sensor feedback, and the state of kinematic motion that robot is current is defined as " landing attitude adjusting stage ".When shank shrank fully, slide block movement was to the guide rail distal-most end, and tension spring has the largest deformation amount, and the landing attitude adjusting stage finishes (shown in e among the figure).

Claims (3)

1. frog jump robot, its feature comprises:
One actuating unit is made up of coder, motor, left and right sides hip joint, double rolling key clutch, cog belt, belt wheel, sliding bar, spring, guide rail and slide block.Link to each other by coupler is coaxial with double rolling key clutch at motor, cog belt is housed on the double rolling key clutch, the other end of cog belt is equipped with belt wheel, and belt wheel links to each other with incremental encoder is coaxial.The lower end and the sliding bar of cog belt are fixed, and the sliding bar two ends link to each other with slide block respectively, and slide block is placed on the guide rail, are connected with tension spring in the middle of slide block and hip joint.
Two shank mechanisms, link to each other with slide block with the left and right sides hip joint of actuating unit respectively, form by thigh, big leg connecting rod, hound, middle joint, knee joint, little leg connecting rod, shank and ankle-joint, the thigh upper end links to each other with hip joint, the lower end links to each other with knee joint, the intermediate connecting rod upper end links to each other with slide block, the lower end links to each other with middle joint, middle joint is positioned at big midleg, the shank upper end links to each other with knee joint, the lower end links to each other with ankle-joint, joint and knee joint in the middle of big leg connecting rod two ends are articulated in respectively, and shank connecting rod two ends are articulated in knee joint and ankle-joint respectively;
Two foot mechanisms link to each other with the ankle-joint of both legs respectively, adopt sector structure, and the bottom is pasted with foot pad and pressure sensor.
One treater links to each other with motor, coder, pressure sensor respectively.
2. the actuating unit of frog-type robot according to claim 1, it is characterized in that: selected spring is a tension spring.
3. the actuating unit of frog-type robot according to claim 1, it is characterized in that: selected motor is a servomotor torque constant.
CN2010101947994A 2010-05-28 2010-05-28 Frog jump robot CN101850794B (en)

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KR101278510B1 (en) 2011-07-21 2013-07-02 건국대학교 산학협력단 A jumping robot using shape memory alloy
CN103223984A (en) * 2013-05-14 2013-07-31 吉林大学 Energy storage jump mechanism for jump robot
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN104590413A (en) * 2014-12-24 2015-05-06 浙江理工大学 Bionic jumping and walking mechanism
CN104648507A (en) * 2015-01-22 2015-05-27 哈尔滨工程大学 Double-joint jumping robot
CN105059412A (en) * 2015-08-14 2015-11-18 西北工业大学 Bionic hopping robot driven by internal combustion engine
CN105292291A (en) * 2015-11-24 2016-02-03 刘阳 Bionic frog electric robot
CN106005079A (en) * 2016-05-24 2016-10-12 浙江大学 Single-leg robot jumping mechanism with active ankle joint and bionic foot
CN106184448A (en) * 2016-09-29 2016-12-07 浙江工业职业技术学院 A kind of mechanism that leaps on one leg driven based on Pascal curve non-circular gear
CN106184447A (en) * 2016-09-29 2016-12-07 浙江工业职业技术学院 A kind of mechanism that leaps on one leg driven based on oval non-circular gear
CN106379433A (en) * 2016-09-29 2017-02-08 浙江工业职业技术学院 Single-leg jump mechanism based on eccentric non-circular gear drive
CN107089275A (en) * 2017-03-27 2017-08-25 西北工业大学 It is a kind of can posture adjustment in the air and land energy regenerating sufficient roll-type interval hopping robot
CN110281228A (en) * 2019-06-28 2019-09-27 北京理工大学 A kind of anthropomorphic robot crosses the planning control method of vertical obstacle
CN111216824A (en) * 2020-03-05 2020-06-02 湖南工业大学 Jumping robot leg structure
CN111687841A (en) * 2020-06-15 2020-09-22 中山大学 Robot bounce height control method, system, device and storage medium

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KR101278510B1 (en) 2011-07-21 2013-07-02 건국대학교 산학협력단 A jumping robot using shape memory alloy
CN103223984A (en) * 2013-05-14 2013-07-31 吉林大学 Energy storage jump mechanism for jump robot
CN103223984B (en) * 2013-05-14 2015-06-10 吉林大学 Energy storage jump mechanism for jump robot
CN103241302A (en) * 2013-05-29 2013-08-14 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN103241302B (en) * 2013-05-29 2015-06-17 哈尔滨工业大学 Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form
CN104590413A (en) * 2014-12-24 2015-05-06 浙江理工大学 Bionic jumping and walking mechanism
CN104648507A (en) * 2015-01-22 2015-05-27 哈尔滨工程大学 Double-joint jumping robot
CN105059412A (en) * 2015-08-14 2015-11-18 西北工业大学 Bionic hopping robot driven by internal combustion engine
CN105292291A (en) * 2015-11-24 2016-02-03 刘阳 Bionic frog electric robot
CN105292291B (en) * 2015-11-24 2017-11-03 福州环亚众志计算机有限公司 A kind of bionical frog electric robot
CN106005079A (en) * 2016-05-24 2016-10-12 浙江大学 Single-leg robot jumping mechanism with active ankle joint and bionic foot
CN106005079B (en) * 2016-05-24 2018-05-22 浙江大学 Single robot leg hopping mechanism with active ankle arthrosis Yu bionical foot
CN106184448A (en) * 2016-09-29 2016-12-07 浙江工业职业技术学院 A kind of mechanism that leaps on one leg driven based on Pascal curve non-circular gear
CN106379433A (en) * 2016-09-29 2017-02-08 浙江工业职业技术学院 Single-leg jump mechanism based on eccentric non-circular gear drive
CN106184448B (en) * 2016-09-29 2018-05-11 浙江工业职业技术学院 A kind of mechanism that leaps on one leg based on the driving of Pascal curve non-circular gear
CN106184447A (en) * 2016-09-29 2016-12-07 浙江工业职业技术学院 A kind of mechanism that leaps on one leg driven based on oval non-circular gear
CN107089275A (en) * 2017-03-27 2017-08-25 西北工业大学 It is a kind of can posture adjustment in the air and land energy regenerating sufficient roll-type interval hopping robot
CN107089275B (en) * 2017-03-27 2019-03-26 西北工业大学 It is a kind of aerial posture adjustment and the sufficient roll-type interval hopping robot of energy regenerating to be landed
CN110281228A (en) * 2019-06-28 2019-09-27 北京理工大学 A kind of anthropomorphic robot crosses the planning control method of vertical obstacle
CN110281228B (en) * 2019-06-28 2020-10-09 北京理工大学 Planning control method for humanoid robot to cross vertical barrier
CN111216824A (en) * 2020-03-05 2020-06-02 湖南工业大学 Jumping robot leg structure
CN111687841A (en) * 2020-06-15 2020-09-22 中山大学 Robot bounce height control method, system, device and storage medium

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