CN101850794B - Frog jump robot - Google Patents
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- CN101850794B CN101850794B CN2010101947994A CN201010194799A CN101850794B CN 101850794 B CN101850794 B CN 101850794B CN 2010101947994 A CN2010101947994 A CN 2010101947994A CN 201010194799 A CN201010194799 A CN 201010194799A CN 101850794 B CN101850794 B CN 101850794B
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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
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 complicacy, 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, and has obtained some theoretical research result at present, in the laboratory, has 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 having announced in the world at present, 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 Study 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, and the oil outlet of gear type pump links to each other with the A mouth of this change-over valve of two-position four-way point, and the B mouth of two-position four-way solenoid directional control valve inserts fuel tank; The P mouth of this change-over valve of two-position four-way point 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 through 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 receives 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 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, simultaneously this robot architecture is simple, 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 through 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, in the middle of slide block and hip joint, are connected with spring.Motor drives cog belt through 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, are made up of 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, and the lower end links to each other with knee joint, and 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, and the shank upper end links to each other with knee joint, and 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, 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, through 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, improved the accuracy and stability of control, 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, along the anticlockwise direction transfer torque; 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 be can be artificially arbitrarily the control energy-storage travelling wave tube energy storage with release and can move, 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 bigger force of explosion be provided 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 sends signal to treater through detecting the number of turns and the rotating speed of belt wheel rotation; 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 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 accomplishes 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 with 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 following:
1, holds the power stage: the motor left-hand revolution; Overriding clutch is in " synchronously " state; Transfer torque drives the cog belt left-hand revolution through belt wheel in the counterclockwise direction, and this moment, sliding bar was to moving away from motor drive direction; At the effect stretched tension spring of sliding bar, leg structure begins to shrink under the effect of slide block slide block on guide rail.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 to distal-most end, tension spring has the largest deformation amount, and shank has been accomplished whole contractive action, and treater is judged shank according to the signal of feedback and shunk fully, thus the self-locking of control motor.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 confirms 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, and 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 accomplished 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 accomplish 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, through the quantity of dissipative cell in the minimizing system, thereby has improved the capacity usage ratio of system.
The present invention cooperatively interacts through motor and overriding clutch, can be artificially arbitrarily the control energy-storage travelling wave tube energy storage with release and can move, improved the controllability and the particularity of system.
The present invention through 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 through the aerial statue adjustment; Through 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 property,, 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
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
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 is individually fixed in motor cabinet 4 and clutch base 7 with overriding clutch 6, and motor 3 and overriding clutch 6 are through 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 is individually fixed in coder seat 20 and belt wheel seat 17 with overriding clutch 6, and belt wheel 18 links to each other through 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.On guide rail 14, be with tension spring 9, 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, and hinge seat 22 is hinged with intermediate bar sleeve 23, and 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, and 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, and 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, and shank connecting rod 29 upper ends are articulated in knee joint upper bush 28.1, and the lower end is articulated in ankle-joint lower sleeve 31.2; Foot 32 upper ends are fixed in ankle-joint lower sleeve 31.2; 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 is carved at this moment, and 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 at first carries out initialization after system powers on; 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; Can judge whether robot accomplishes the take-off action according to the pressure sensor signal at the bottom of the robot foot when the take-off preprocessor,, then carry out the aerial statue adjustment if accomplished the take-off action.Aloft in the attitude adjustment process, treater can be according to judging when the front leg portions attitude whether robot accomplishes the attitude adjustment, if do not accomplish the adjustment action, then robot will be proceeded adjustment.After accomplishing 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 accomplished attitude adjustment action, its body posture returned to complete contraction state again, and at this moment, first hop period finishes, and robot begins to get into 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 through coder 1 (servomotor carries coder) with self tach signal, and slide block moves on guide rail under the driving of motor through driving device, the Position And Velocity information of the slide block movement of coder 2 (being numbered coder shown in 20 among Fig. 1) detection simultaneously; And it is fed back to controller; The robot both legs stretch and contractile motion under the driving of slide block, and 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 through coder 1, coder 2 and pressure sensor feedack, thereby makes motor require to carry out work according to control, and then makes robot accomplish the jump process of one whole, and is as shown in Figure 7.
As shown in Figure 8, once jump after the end, 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 accomplished smoothly.
Like a to b among Fig. 9, when the robot energy storage finishes, when shank shrinks (shown in a among the figure) fully; If robot is received 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 confirms 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 with lean on the toe of foot's front end contact between the ground (shown in b in scheming).
Like 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; At the effect stretched tension spring of sliding bar, leg structure begins to shrink under the effect of slide block slide block on 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 confirmed as " aerial statue adjusting stage ".On 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 receives 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 confirmed as " landing attitude adjusting stage ".When shank shrinks fully, slide block movement to guide rail distal-most end, 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 characteristic 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; Motor links to each other through coupler is coaxial with double rolling key clutch; Cog belt is housed on the double rolling key clutch, and the other end of cog belt is equipped with belt wheel, and belt wheel links to each other with coder is coaxial; The lower end and the sliding bar of cog belt are fixed; The sliding bar two ends link to each other with slide block respectively, and slide block is placed on the guide rail, in the middle of slide block and hip joint, are connected with spring;
Two shank mechanisms link to each other with slide block with the left and right sides hip joint of actuating unit respectively, are made up of thigh, big leg connecting rod, intermediate connecting rod, middle joint, knee joint, little leg connecting rod, shank and ankle-joint; The thigh upper end links to each other with hip joint, and the lower end links to each other with knee joint, and 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, and the shank upper end links to each other with knee joint, and 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, 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. frog jump robot according to claim 1 is characterized in that: the spring of being selected for use is a tension spring.
3. frog jump robot according to claim 1 is characterized in that: the motor of being selected for use is a servomotor torque constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010101947994A CN101850794B (en) | 2010-05-28 | 2010-05-28 | Frog jump robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101947994A CN101850794B (en) | 2010-05-28 | 2010-05-28 | Frog jump robot |
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| CN101850794A CN101850794A (en) | 2010-10-06 |
| CN101850794B true CN101850794B (en) | 2012-01-18 |
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| CN2010101947994A Expired - Fee Related CN101850794B (en) | 2010-05-28 | 2010-05-28 | Frog jump robot |
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| KR101278510B1 (en) | 2011-07-21 | 2013-07-02 | 건국대학교 산학협력단 | A jumping robot using shape memory alloy |
| CN103223984B (en) * | 2013-05-14 | 2015-06-10 | 吉林大学 | Energy storage jump mechanism for jump robot |
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| CN106005079B (en) * | 2016-05-24 | 2018-05-22 | 浙江大学 | Single robot leg hopping mechanism with active ankle arthrosis Yu bionical foot |
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| CN106184447B (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 oval non-circular gear |
| 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 |
| 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 |
| CN107284545B (en) * | 2017-08-02 | 2023-02-28 | 重庆科技学院 | Use method of bionic flea jumping auxiliary device |
| CN108909863A (en) * | 2018-07-03 | 2018-11-30 | 浙江理工大学 | A kind of bouncer based on series connection flexible drive and variable mechanical gain |
| CN110281228B (en) * | 2019-06-28 | 2020-10-09 | 北京理工大学 | Planning control method for humanoid robot to cross vertical barrier |
| CN111216824B (en) * | 2020-03-05 | 2021-08-27 | 湖南工业大学 | Jumping robot leg structure |
| CN111687841B (en) * | 2020-06-15 | 2021-02-23 | 中山大学 | Robot bounce height control method, system, device and storage medium |
| CN115257997B (en) * | 2022-09-05 | 2023-10-27 | 北京理工大学 | Bionic obstacle-surmounting biped jumping mechanical device |
| CN115180037B (en) * | 2022-09-14 | 2022-12-09 | 浙大城市学院 | Frog-imitating jumping robot |
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| US7270589B1 (en) * | 1999-05-14 | 2007-09-18 | Carnegie Mellon University | Resilient leg design for hopping running and walking machines |
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| CN101850794A (en) | 2010-10-06 |
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