CN102343950A - Pliant four-footed robot with flexible waist and elastic legs - Google Patents

Pliant four-footed robot with flexible waist and elastic legs Download PDF

Info

Publication number
CN102343950A
CN102343950A CN2011101962217A CN201110196221A CN102343950A CN 102343950 A CN102343950 A CN 102343950A CN 2011101962217 A CN2011101962217 A CN 2011101962217A CN 201110196221 A CN201110196221 A CN 201110196221A CN 102343950 A CN102343950 A CN 102343950A
Authority
CN
China
Prior art keywords
trunk
robot
waist
leg
backbone
Prior art date
Application number
CN2011101962217A
Other languages
Chinese (zh)
Other versions
CN102343950B (en
Inventor
张秀丽
李冬冬
刘铖
周坤玲
Original Assignee
北京交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京交通大学 filed Critical 北京交通大学
Priority to CN 201110196221 priority Critical patent/CN102343950B/en
Publication of CN102343950A publication Critical patent/CN102343950A/en
Application granted granted Critical
Publication of CN102343950B publication Critical patent/CN102343950B/en

Links

Abstract

The invention relates to a four-footed walking robot, and specifically relates to a pliant four-footed robot with a flexible waist and elastic legs. The pliant four-footed robot is divided into several parts, namely a front torso, a vertebral column, a waist, a back torso and four legs with the same structures; a bearing in the front torso or the back torso and flanged shafts on all the legs form a rotating pair; the front torso is connected with the vertebral column by using the rotating pair and is driven by a motor and a gear set, so that a body of the robot has a pitching degree of freedom; the vertebral column is connected with the waist by using a rotating pair with a torsion spring, so that the body of the robot has a transverse rolling degree of freedom; the waist is connected with the back torso also by using a rotating pair with the torsion spring, so that the body of the robot has a deflection degree of freedom; leg parts of the robot consist of thighs and shanks, which are all driven by the motor and the gear set; and the shanks are provided with compression springs, so that the ground impact force is decreased when the robot walks. By using the pliant four-footed robot, a conventional rigid structure is placed with a flexible structure; the movement stability of the robot is increased; and the impact of the robot is decreased.

Description

A kind of submissive quadruped robot with flexible waist and elastic leg
Technical field
The present invention relates to a kind of four feet walking robot, be specifically related to a kind of submissive quadruped robot with flexible waist and elastic leg.
Background technology
In the four feet walking robot field, the BigDog that the boston, u.s.a utility companies is made is the hightech achievement of quadruped robot, and it can adapt to multiple landform such as ice face, snowfield, meadow, and shows superpower anti-side direction perturbation ability.Most of quadruped robots adopt the rigidity waist, and promptly whole trunk is a rigid unitary, and robot motion's compliance is poor like this, and for improving the stability of motion of robot, some quadruped robots have also been done the design of flexible waist.The SQ43 quadruped robot of the JSK of Tokyo Univ Japan laboratory development for example, it has flexible backbone, and this allows the robot motion become submissive, and certain effectiveness in vibration suppression is arranged, and makes it can pass some narrow passages and fitfull landform.People such as the Se-Hoon Park of the electronic engineering of QingBei, Korea university and College of Computer Science have developed quadruped robot ELIRO; This robot is compared with traditional legged type robot; Robot body no longer is a mono-rigid unitary, but at passive joint of this body and function robot body is divided into former and later two parts.This passive waist joint makes robot can carry out static turning to, so runs into obstacle in the ELIRO series robot straight line moving process, and can stop turns to avoiding obstacles.
Aspect the research of elastic leg; The bio-robot team of the federal Institute of Technology of Lausanne, SUI has designed a quadruped robot " Cheetah "; The most important position of this robot is its shank design; Employing is than the material of lightweight; The spring of ankle-joint can absorb and impact and stored energy, not only helps having improved the robot speed but also help cutting down the consumption of energy.Ghent, Belgium university electronics and information system institute have developed " Reservoir Dog " quadruped robot; Because shank weight is lighter; And spring has the accumulation of energy effect; Thereby this robot can be realized Gallop (jump) gait that most of robots can't be realized; Be that four-footed soars simultaneously, the gait that entire machine people jumps forward.
Summary of the invention
The waist and the shank that the present invention is directed to present quadruped robot adopt rigid construction mostly; The problem that thereby the stability of motion of bringing is poor, motion is inharmonious, impact on lower legs power is big, energy consumption is high provides a kind of quadruped robot with flexible waist and elastic leg.
Technical scheme of the present invention:
This robot is divided into preceding trunk, backbone, waist, back trunk and four several parts of leg that structure is identical:
Before between trunk and backbone through horizontally disposed, be connected with the vertical revolute pair of robot working direction, do luffing by being installed in epispinal backbone motor through the preceding trunk of gear cluster driving; Backbone is connected with having revolute pair torsion spring, parallel with the backbone line of centers with waist; Torsion spring one end inserts the aperture of waist, and an end inserts the aperture of backbone, and waist can be rotated vertically; Even the robot health has the roll degree of freedom, and have the ability of automatically replying; Waist and the back trunk between with have torsion spring, be connected with the vertical revolute pair of horizontal surface, make the robot health have the deflection degree of freedom, and have the ability of automatically replying.
Preceding trunk is adopted with the two ends of back trunk one leg is installed respectively in a like fashion; Left front bearing before being fixed on the trunk and the flanged shaft on the left front leg constitute revolute pair, are driven by left front motor on the trunk before being installed in and gear cluster, make the left front leg swing.
The leg of robot is made up of thigh and shank, and thigh is connected by revolute pair with shank internode, makes the swing of shank ability; The lower end of thigh is provided with thigh motor, drives the shank motion through gear cluster, and stage clip is equipped with in the lower end of shank, makes it have passive buffer capacity.
Gear cluster before described between trunk and the backbone comprises that a pair of transmitting ratio is the spur wheel that 1: 1 finishing bevel gear cuter and a pair of transmitting ratio is 1: 1.
Before said between trunk or back trunk and each the bar leg, all adopt the mode of motor-driven bevel gear set between the thigh of shank and the shank, realize moving, and the transmitting ratio of finishing bevel gear cuter is 1: 1.
Described waist and the back revolute pair between the trunk adopts bearing pin, and torsion spring set is outside bearing pin, and the pivot center of bearing pin vertically.
Beneficial effect of the present invention is: this four feet walking robot has been abandoned the rigid construction of traditional quadruped robot, and the waist of robot has the passive three degree of freedoms altogether of an active, two, is that the robot regularity oftimekeeping of being expert at is higher, and motion is more coordinated.Shank at robot is equipped with spring, by passive buffering effect, and the ground shock power when having reduced walking, spring has the accumulation of energy effect, has reduced energy consumption.
Description of drawings
Fig. 1 is the whole graphics with flexible waist and elastic leg quadruped robot;
Fig. 2 is the connection diagram of preceding trunk and backbone active degree of freedom;
Fig. 3 is the connection diagram of backbone and waist passive freedom degree;
Fig. 4 is the connection diagram of waist and back trunk passive freedom degree;
Fig. 5 is the constructional drawing of thigh, shank drive system;
Fig. 6 is a section-drawing for the axle that thigh drives;
Fig. 7 is the passive elastomeric constructional drawing of shank.
Label among the figure:
Trunk before the A1-; Trunk bearing seat before the A2-; Trunk motor cabinet before the A3-; Trunk motor before the A4-; Trunk first finishing bevel gear cuter before the A5-; Trunk bearing before the A6-; Trunk first spur wheel before the A7-; Trunk second spur wheel before the A8-; Trunk middle tap gear before the A9-;
The B1-left front leg; B2-left front leg flanged shaft; B3-left front leg first circlip for shaft; B4-left front leg first finishing bevel gear cuter; B5-left front leg second circlip for shaft; B6-left front leg motor; B7-left front leg motor cabinet; B8-left front leg middle tap gear; B9-left front leg third hand tap gear; B10-left front leg bearing seat; B11-left front leg third axle circlip; B12-left front leg the 4th circlip for shaft; B13-left front leg flange; B14-left front leg axle; B15-left front leg shank bar; B16-left front leg circlip for shaft; B17-left front leg linear slide bearing; B18-left front leg stage clip; B19-left front leg shank post; B20-left front leg foot end;
The C1-backbone; C2-backbone motor cabinet; C3-backbone finishing bevel gear cuter; C4-backbone motor; C5-spinal column axis bearing; C6-backbone torsion spring;
The D1-waist; D2-waist back-up ring; D3-waist bearing pin;
Trunk behind the E1-; Trunk torsion spring behind the E2-; Trunk locating dowel pin behind the E3-.
The specific embodiment
The invention provides a kind of submissive quadruped robot, the present invention is explained further details below in conjunction with the accompanying drawing and the specific embodiment with flexible waist and elastic leg.
Trunk A1 before robot integral body is divided into as shown in Figure 1, left front leg B1, backbone C1, waist D1, back trunk E1, RAT, left back leg, right rear leg are formed, and four leg structures are identical.
As shown in Figure 2; Before be connected by revolute pair between trunk A1 and the backbone C1; The end of preceding trunk A1 processes circular shaft; One end injects in the through hole of backbone C1 end; The other end inserts in the through hole of spinal column axis bearing C5; Spinal column axis bearing C5 passes through bolt and nut connection on backbone C1, as trunk A1 and backbone C1 constitute revolute pair before this.Backbone motor C4 passes through screw retention on backbone motor cabinet C2; Backbone motor cabinet C2 is fixed on the backbone C1 through bolt and nut; The rotation of backbone motor C4 is through backbone finishing bevel gear cuter C3; Preceding trunk middle tap gear A 9; The preceding trunk second spur wheel A8; Spur wheel A7 is delivered to revolute pair; Backbone finishing bevel gear cuter C3; Preceding trunk middle tap gear A 9 is connected the preceding trunk second spur wheel A8 through jackscrew with the preceding trunk second spur wheel axle A10; Before the trunk first spur wheel A7 lean on D shape face respectively with the preceding trunk second spur wheel axle A10; Preceding trunk A1 connects.
As shown in Figure 3, be connected through revolute pair between backbone C1 and the waist D1, be processed with axle on the backbone C1 and insert in the hole of waist D1, insert respectively in the aperture of backbone C1 and waist D1 at the two ends of backbone torsion spring C6, and torsion spring like this can provide the restoring force of revolute pair.Axial restraint between the axle of backbone C1 and the hole of waist D1 leans on up and down, and two waist back-up ring D2 realize; Waist back-up ring D2 is the rectangular tab that has semi-circular groove; The backbone C1 at waist back-up ring D2 place has deep trouth; The deep trouth diameter is identical with said semi-circular groove diameter; The semi-circular groove of waist back-up ring D2 is stuck in the deep trouth of backbone C1, and two screw retention were on waist D1 about waist back-up ring D2 used.So constituted the revolute pair with restoring force between backbone C1 and the waist D1, the revolute pair axis is the robot working direction.
As shown in Figure 4; Waist D1 is connected through waist bearing pin D3 with back trunk E1; Waist bearing pin D3 passes the up and down through hole of two through holes and back trunk E1 of waist D1; Back trunk torsion spring E2 one end inserts the aperture of waist D1; The other end inserts in the aperture on the face of cylinder, waist bearing pin D3 bottom; Waist bearing pin D3 and back trunk E1 fix with back trunk locating dowel pin E3, so, constitute the revolute pair around vertical axes of the power of automatically replying between waist D1 and the back trunk E1.
Article four, the structure of leg and connection mode are identical, are example with left front leg B1.Like Fig. 5; Shown in Figure 6; Preceding trunk motor cabinet A3; Preceding trunk bearing seat A2 is fixed on the preceding trunk A1; Preceding trunk motor A4 passes through screw retention on preceding trunk motor cabinet A3; The preceding trunk first finishing bevel gear cuter A5; The left front leg first finishing bevel gear cuter B4 is fixed on motor shaft and the left front leg flanged shaft B2 through jackscrew respectively; Left front leg flanged shaft B2 passes through screw retention on the thigh bar of left front leg B1; Left front leg flanged shaft B2 passes the left front leg second circlip for shaft B5; Preceding trunk bearing A6; Left front leg first circlip for shaft B3 and the left front leg first finishing bevel gear cuter B4; The left front leg first circlip for shaft B3; The left front leg second circlip for shaft B5 plays the axial restraint effect; Preceding trunk bearing A6 is contained in the preceding trunk bearing seat A2 through the interference connection; So, the rotation energy of motor drives the thigh bar rotation of left front leg B1.Equally; The rotation of left front leg motor B6 is delivered to left front leg flange B13 through left front leg middle tap gear B 8, left front leg third hand tap gear B 9; Thereby driving left front leg shank bar B15 rotates; Left front leg axle B14 passes the bearing among the left front leg bearing seat B10, and the left front leg third axle plays the axial restraint effect with circlip B11, left front leg the 4th circlip for shaft B12.
As shown in Figure 7; Constitute moving sets between left front leg shank post B19 and the left front leg linear slide bearing B17; Middle left front leg stage clip B18 plays passive buffer action; Upper end left front leg circlip for shaft B16 plays unidirectional axial restraint effect, and left front leg shank post B19 and left front leg foot end B20 are screwed together.

Claims (4)

1. the submissive quadruped robot with flexible waist and elastic leg is characterized in that, is divided into preceding trunk (A1), backbone (C1), waist (D1), back trunk (E1) and four several parts of leg that structure is identical;
Before between trunk (A1) and backbone (C1) through horizontally disposed, be connected with the vertical revolute pair of robot working direction, do luffing by the backbone motor (C4) that is installed on the backbone (C1) through the preceding trunk (A1) of gear cluster driving; Backbone (C1) and waist (D1) with have torsion spring, be connected with the parallel revolute pair of backbone (C1) line of centers, waist (D1) can be rotated vertically, even the robot health has the roll degree of freedom, and have the ability of automatically replying; Between waist (D1) and back trunk (E1) with have torsion spring, be connected with the vertical revolute pair of horizontal surface, make the robot health have the deflection degree of freedom, and have the ability of automatically replying;
The two ends of preceding trunk (A1) and back trunk (E1) are adopted one leg are installed respectively in a like fashion; The left front bearing (A6) and the flanged shaft (B2) on the left front leg (B1) that are fixed on the preceding trunk (A1) constitute revolute pair, are driven by the left front motor (A4) and the gear cluster that are installed on the preceding trunk (A1), make left front leg (B1) swing;
The leg of robot is made up of thigh and shank, and thigh is connected by revolute pair with shank internode, makes the swing of shank ability; The lower end of thigh is provided with thigh motor, drives the shank motion through gear cluster, and stage clip is equipped with in the lower end of shank, makes it have passive buffer capacity.
2. the submissive quadruped robot with flexible waist and elastic leg according to claim 1 is characterized in that: the gear cluster before described between trunk (A1) and the backbone (C1) comprises that a pair of transmitting ratio is the spur wheel that 1: 1 finishing bevel gear cuter and a pair of transmitting ratio is 1: 1.
3. the submissive quadruped robot with flexible waist and elastic leg according to claim 1; It is characterized in that: before said between trunk (A1) or back trunk (E1) and each the bar leg, all adopt the mode of motor-driven bevel gear set between the thigh of shank and the shank; Realize motion, and the transmitting ratio of finishing bevel gear cuter is 1: 1.
4. the submissive quadruped robot with flexible waist and elastic leg according to claim 1 is characterized in that, the revolute pair between described waist (D1) and back trunk (E1) adopts bearing pin, and torsion spring set is outside bearing pin, and the pivot center of bearing pin vertically.
CN 201110196221 2011-07-13 2011-07-13 Pliant four-footed robot with flexible waist and elastic legs CN102343950B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201110196221 CN102343950B (en) 2011-07-13 2011-07-13 Pliant four-footed robot with flexible waist and elastic legs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201110196221 CN102343950B (en) 2011-07-13 2011-07-13 Pliant four-footed robot with flexible waist and elastic legs

Publications (2)

Publication Number Publication Date
CN102343950A true CN102343950A (en) 2012-02-08
CN102343950B CN102343950B (en) 2013-04-24

Family

ID=45543099

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201110196221 CN102343950B (en) 2011-07-13 2011-07-13 Pliant four-footed robot with flexible waist and elastic legs

Country Status (1)

Country Link
CN (1) CN102343950B (en)

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673674A (en) * 2012-06-01 2012-09-19 浙江大学 Bionic elastic spine mechanism of quadruped robots
CN102700644A (en) * 2012-06-08 2012-10-03 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102717847A (en) * 2012-06-28 2012-10-10 中国科学院自动化研究所 Leg-foot mechanism with low rotational inertia configuration for four-footed robot
CN102874339A (en) * 2012-09-27 2013-01-16 浙江大学 Hopping robot mechanism
CN103144694A (en) * 2013-03-26 2013-06-12 上海大学 Pivot-steering mechanism of quadruped bio-robot
CN103192898A (en) * 2013-04-09 2013-07-10 北京交通大学 Biomimetic quadruped robot provided with head and tail balance adjustment devices
CN103204194A (en) * 2013-04-09 2013-07-17 北京交通大学 Four-foot crawling robot simulating infants
CN103318290A (en) * 2013-07-08 2013-09-25 北京理工大学 Similar dual-A-arm suspended robot crotch lateral-deviation damping system
CN103332235A (en) * 2013-06-14 2013-10-02 哈尔滨工程大学 Modularized walking robot with flexible torso
CN103600786A (en) * 2013-10-30 2014-02-26 李天豪 Intelligent doraemon
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN103935417A (en) * 2014-04-11 2014-07-23 哈尔滨工程大学 Bionic four-foot robot provided with spinal joint and elastic legs
CN104149871A (en) * 2014-07-17 2014-11-19 华中科技大学 Bionic quadruped robot with energy storage effect
CN104309716A (en) * 2014-09-30 2015-01-28 山东大学 Bionic quadruped robot
CN104787138A (en) * 2015-04-01 2015-07-22 上海交通大学 Desert quadruped robot
CN104875812A (en) * 2015-03-27 2015-09-02 北京交通大学 Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot
CN104875810A (en) * 2015-06-23 2015-09-02 北京航空航天大学 Four-foot-swing wall-climbing robot with driven waist joint
CN105159312A (en) * 2015-09-15 2015-12-16 北京理工大学 A waist simulation device of a bionic robot mouse based on differential gears
CN105292296A (en) * 2015-10-21 2016-02-03 山东大学 Bionic running four-leg robot
CN106608308A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Robot
CN108216410A (en) * 2018-01-02 2018-06-29 山东大学 Imitative starfish robot
CN108656100A (en) * 2018-05-22 2018-10-16 嘉兴学院 Human emulated robot based on cylinder
CN108674515A (en) * 2018-04-04 2018-10-19 东南大学 A kind of backbone humanoid robot and its control method for turning to jump
CN109018064A (en) * 2018-08-24 2018-12-18 北京理工大学 Leg foot type bionic machine mouse
CN110143246A (en) * 2019-05-29 2019-08-20 北京理工大学 A kind of leg biped robot foot end design with buffering and boost function
CN110154012A (en) * 2019-05-24 2019-08-23 东北大学 A kind of four-leg bionic robot and its control method
CN110254553A (en) * 2019-06-04 2019-09-20 北京交通大学 A kind of imitative ostrich high speed Pao Tiao robot of holotype stance
CN111452882A (en) * 2020-04-10 2020-07-28 山东大学 Quadruped robot

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111469945A (en) * 2020-04-16 2020-07-31 山东大学 Quadruped robot and slope motion posture adjusting method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002103253A (en) * 2000-09-28 2002-04-09 Sony Corp Leg type moving robot and mounting structure of leg part
KR100881287B1 (en) * 2007-08-31 2009-02-03 재단법인 포항지능로봇연구소 Walking apparatus having multlple legs
CN101791994A (en) * 2010-02-26 2010-08-04 聊城大学 Walking mechanism of cam driving control type quadruped robot
CN102001371A (en) * 2010-11-23 2011-04-06 南京航空航天大学 Hydraulically-driven four-foot robot

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002103253A (en) * 2000-09-28 2002-04-09 Sony Corp Leg type moving robot and mounting structure of leg part
KR100881287B1 (en) * 2007-08-31 2009-02-03 재단법인 포항지능로봇연구소 Walking apparatus having multlple legs
CN101791994A (en) * 2010-02-26 2010-08-04 聊城大学 Walking mechanism of cam driving control type quadruped robot
CN102001371A (en) * 2010-11-23 2011-04-06 南京航空航天大学 Hydraulically-driven four-foot robot

Cited By (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102673674A (en) * 2012-06-01 2012-09-19 浙江大学 Bionic elastic spine mechanism of quadruped robots
CN102700644B (en) * 2012-06-08 2014-10-15 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102700644A (en) * 2012-06-08 2012-10-03 上海交通大学 Wheel and foot combined all-terrain robot running device
CN102717847A (en) * 2012-06-28 2012-10-10 中国科学院自动化研究所 Leg-foot mechanism with low rotational inertia configuration for four-footed robot
CN102874339A (en) * 2012-09-27 2013-01-16 浙江大学 Hopping robot mechanism
CN102874339B (en) * 2012-09-27 2015-01-14 浙江大学 Hopping robot mechanism
CN103144694A (en) * 2013-03-26 2013-06-12 上海大学 Pivot-steering mechanism of quadruped bio-robot
CN103144694B (en) * 2013-03-26 2016-01-13 上海大学 A kind of four-leg bionic robot pivot stud mechanism
CN103192898A (en) * 2013-04-09 2013-07-10 北京交通大学 Biomimetic quadruped robot provided with head and tail balance adjustment devices
CN103204194A (en) * 2013-04-09 2013-07-17 北京交通大学 Four-foot crawling robot simulating infants
CN103204194B (en) * 2013-04-09 2015-09-23 北京交通大学 Imitative baby's Four-feet creeping robot
CN103332235A (en) * 2013-06-14 2013-10-02 哈尔滨工程大学 Modularized walking robot with flexible torso
CN103332235B (en) * 2013-06-14 2015-06-17 哈尔滨工程大学 Modularized walking robot with flexible torso
CN103318290B (en) * 2013-07-08 2016-04-06 北京理工大学 Class two lateral-deviation robot crotch lateral deviation shock mitigation system
CN103318290A (en) * 2013-07-08 2013-09-25 北京理工大学 Similar dual-A-arm suspended robot crotch lateral-deviation damping system
CN103600786A (en) * 2013-10-30 2014-02-26 李天豪 Intelligent doraemon
CN103661667A (en) * 2013-12-11 2014-03-26 北京航空航天大学 Smart quadruped robot with flexible waist
CN103661667B (en) * 2013-12-11 2015-11-18 北京航空航天大学 A kind of dexterous type quadruped robot with flexible waist
CN103935417A (en) * 2014-04-11 2014-07-23 哈尔滨工程大学 Bionic four-foot robot provided with spinal joint and elastic legs
CN104149871A (en) * 2014-07-17 2014-11-19 华中科技大学 Bionic quadruped robot with energy storage effect
CN104309716B (en) * 2014-09-30 2016-09-07 山东大学 Bionical quadruped robot
CN104309716A (en) * 2014-09-30 2015-01-28 山东大学 Bionic quadruped robot
CN104875812A (en) * 2015-03-27 2015-09-02 北京交通大学 Four-leaf clover shaped adjustable rigidity supple spine for quadruped robot
CN104787138A (en) * 2015-04-01 2015-07-22 上海交通大学 Desert quadruped robot
CN104875810A (en) * 2015-06-23 2015-09-02 北京航空航天大学 Four-foot-swing wall-climbing robot with driven waist joint
CN105159312A (en) * 2015-09-15 2015-12-16 北京理工大学 A waist simulation device of a bionic robot mouse based on differential gears
CN105292296A (en) * 2015-10-21 2016-02-03 山东大学 Bionic running four-leg robot
CN106608308A (en) * 2015-10-22 2017-05-03 沈阳新松机器人自动化股份有限公司 Robot
CN108216410B (en) * 2018-01-02 2019-10-18 山东大学 Imitative starfish robot
CN108216410A (en) * 2018-01-02 2018-06-29 山东大学 Imitative starfish robot
CN108674515A (en) * 2018-04-04 2018-10-19 东南大学 A kind of backbone humanoid robot and its control method for turning to jump
CN108656100B (en) * 2018-05-22 2019-05-03 嘉兴学院 Human emulated robot based on cylinder
CN108656100A (en) * 2018-05-22 2018-10-16 嘉兴学院 Human emulated robot based on cylinder
CN109018064A (en) * 2018-08-24 2018-12-18 北京理工大学 Leg foot type bionic machine mouse
CN110154012A (en) * 2019-05-24 2019-08-23 东北大学 A kind of four-leg bionic robot and its control method
CN110154012B (en) * 2019-05-24 2020-08-04 东北大学 Four-footed bionic robot and control method thereof
CN110143246A (en) * 2019-05-29 2019-08-20 北京理工大学 A kind of leg biped robot foot end design with buffering and boost function
CN110254553A (en) * 2019-06-04 2019-09-20 北京交通大学 A kind of imitative ostrich high speed Pao Tiao robot of holotype stance
CN110254553B (en) * 2019-06-04 2020-12-01 北京交通大学 Full-form ostrich-imitated high-speed running and jumping robot
CN111452882A (en) * 2020-04-10 2020-07-28 山东大学 Quadruped robot

Also Published As

Publication number Publication date
CN102343950B (en) 2013-04-24

Similar Documents

Publication Publication Date Title
CN203196307U (en) Motion device with vibration drivers
CN101810533B (en) Walking aid exoskeleton rehabilitation robot
Collins et al. A three-dimensional passive-dynamic walking robot with two legs and knees
CN102923204B (en) Multi-degree-of-freedom two-wheeled robot with variable gravity center
US8635929B2 (en) Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus
Niiyama et al. Biomechanical approach to open-loop bipedal running with a musculoskeletal athlete robot
CN104887414B (en) Omni-directionally movable wheelchair with gravity center adjusting function
CN101678866B (en) Energy efficient robotic system
CN103330635B (en) Wear type lower limb assistant robot, folding method thereof and hand luggage for carrying
CN203344065U (en) Human-simulated robot head
CN205769683U (en) A kind of four-footed reconnaissance robot
Kuo Choosing your steps carefully
CN103610524B (en) A kind of Portable energy storage ectoskeleton power-assisting robot
CN100478212C (en) Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism
CN102973338B (en) Active-passive type ankle joint prosthesis and movement mode thereof
CN107296718A (en) The driving of air pressure muscle has upper limbs power-assisted and the exoskeleton device of rehabilitation training function concurrently
CN102973373B (en) Body building bed
CN105667632B (en) A kind of Mecanum wheel Omni-mobile platform
CN201597033U (en) Wheeled model snake-shaped robot mechanism
CN104590412A (en) Multifunctional bionic jumping and walking robot
CN103519974B (en) Rehabilitation walking aid
CN102180206B (en) Robot foot mechanism with flexible joint
CN202895125U (en) Driving cabinet installing platform
CN106080831B (en) It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation
CN203946189U (en) A kind of foot module for walking robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
EXPY Termination of patent right or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130424

Termination date: 20140713