CN102407890A - Spherical moving device with enhanced function - Google Patents
Spherical moving device with enhanced function Download PDFInfo
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- CN102407890A CN102407890A CN2011103303905A CN201110330390A CN102407890A CN 102407890 A CN102407890 A CN 102407890A CN 2011103303905 A CN2011103303905 A CN 2011103303905A CN 201110330390 A CN201110330390 A CN 201110330390A CN 102407890 A CN102407890 A CN 102407890A
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Abstract
The invention relates to the research field of a tumbler type moving device and especially relates to the tumbler type moving device which has the characteristics of a spherical walking robot. The invention discloses a spherical moving device with an enhanced function, which comprises a device shell, a driving mechanism, a steering mechanism, a spherical shell and a counterweight, wherein a long shaft in the spherical shell is fixedly connected to the device shell and is rotatably connected to the spherical shell; a driving motor is fixed on the long shaft or the device shell; the spherical shell can relatively rotate around the long shaft in a driven manner, thereby realizing the walking of the device; a short shaft is mounted on the long shaft and is connected to the counterweight; and a short shaft motor in the steering mechanism can drive the counterweight to rotate or swing around a sphere center of the spherical shell, thereby realizing the steering.
Description
Technical field
The present invention relates to a kind of spherical mobile device, definite says, relates to a kind of spherical mobile device of enhancement function of roly-poly type.
Background technology
The roly-poly type mobile robot is rise recently both at home and abroad in recent years, also develops extraordinary field of research rapidly, and it belongs to the category of spherical walking robot.Spherical walking robot and ground are to contact, and belong to pure rolling friction, and resistance is very little, and action can realize zero turn radius flexibly.The walking robot of the roly-poly type that grows up based on walking robot, at first it has the characteristic of tumbler, hit, when rocking, it can wave and recover gradually and be kept upright around its cup dolly.As a kind of Move tool, it also has the characteristics of spherical walking robot in addition.At present, countries in the world have all produced interest to the tumbler robot, and take the lead in being succeeded in developing by Japan, Switzerland, have occurred the some kinds of tumbler robots based on the different structure of different principle now both at home and abroad.This robotlike had both included the characteristics of ball shape robot, and had the characteristic of not falling, and therefore adapted to the very capable of road, was a kind of more satisfactory means of delivery on ups and downs ground.Its application prospect is very extensive, can be used for fields such as military scouting, home services, educational toy exploitation.But present tumbler robot architecture is complicated, and cost only could keep standing when energising than higher mostly, in case outage, robot will be toppled over, and might cause unnecessary loss, and this has limited to the application of tumbler robot to a great extent.How to improve structure, still can stand when guaranteeing the robot outage, become the new problem that the applicant pays close attention to and studies.
Summary of the invention
The present invention provides a kind of tumbler device that can stand, walk and turn on the level land in order to adapt to above-mentioned requirements, and this device still can oneself keep standing under powering-off state, has solved the extraneous difficult problem that supports of outage needs that most of robots face.
In order to achieve the above object, the spherical mobile device of a kind of enhancement function based on movable spherical robot provided by the present invention.It comprises:
Shell, shell and major axis are connected, and have certain given shape;
Driver train and turning mechanism; It is all by motor-driven, and inside is equipped with counterweight, counterweight can be heavily put, flywheel etc.; At least one motor can drive counterweight and rotate around major axis with respect to spherical shell, and said counterweight is enough heavy so that the restoring force based on gravity that is enough to prevent the member overturning to be provided;
Traveling gear, it comprises and major axis two ends bonded assembly spherical shell that said spherical shell can not cause the rotation that miscellaneous part is synchronous around the major axis rotation.
Said major axis stretches out the spherical shell part to be fixed with robot shells; These major axis two ends are connected with flange on being fixed on spherical shell; Make spherical shell can not cause being synchronized with the movement of miscellaneous part around the major axis rotation; The inner two frame plate members that adopt symmetry to install of spherical shell replace traditional major axis, with convenient processing and assembly technology.
Said shell, major axis and counterweight have constituted the inverted pendulum structure, and the proportion that counterweight accounts for the robot oeverall quality is very big, make the robot center of gravity below major axis, and the circular spherical shell of bottom contacts with ground, have guaranteed that robot can oneself keep standing in outage.
According to an embodiment of the invention, a kind of actuating device that is used for the movable spherical robot of enhancement function is provided, said device comprises: driver train; It comprises actuating device and driving device; Actuating device is a motor, be fixed on major axis or the shell that is connected with major axis on, driving device can be phase gear or the power wheel that compresses with spherical shell etc.; Be installed on the motor shaft and with spherical shell or be connected in the structure engages on the spherical shell, can drive spherical shell and rotate with respect to major axis.Turning mechanism, it comprises that one is fixed on the minor axis on the major axis, and fly-wheel motor is installed on the minor axis, is equipped with flywheel on the motor shaft.
Said actuating device is a servomotor, its be fixed on major axis or the shell that is connected with major axis on, motor shaft and major axis axially parallel.Said transmission device can be a pair of engaging gear that is installed on respectively on drive motor axle and the spherical shell flange; Said spherical shell flange is fixed on the spherical shell two ends and is connected through bearing with major axis; Can also be with spherical shell at the vertex place ingear power wheel, this engagement system both can be that interior engagement also can be external toothing.
Said turning mechanism comprises the minor axis perpendicular to major axis; This minor axis adopts motor fixing plate to replace; Be used to install fly-wheel motor, wherein fly-wheel motor axis normal major axis is equipped with flywheel in sphere center position and major axis dorsad on it; Flywheel is enough heavy, can be used for providing the restoring force based on gravity can not topple over to guarantee robot.Motor can drive flywheel and rotate, and realizes the turning of robot.
According to an embodiment of the invention; A kind of actuating device that is used for the movable spherical robot of enhancement function is provided; Said device comprises: driver train; It comprises drive motor, and said drive motor can make in-to-in heavily put to rotate obtaining with respect to spherical shell through certain type of drive and move.Turning mechanism, it comprises the minor axis motor, said minor axis motor is installed on the major axis, and can drive heavily that pendulum swings through certain type of drive.
Said actuating device is a servomotor, its be fixed on major axis or the shell that is connected with major axis on, motor shaft and major axis axially parallel.Said transmission device can be a pair of engaging gear that is installed on respectively on drive motor axle and the spherical shell flange, and said spherical shell flange is fixed on the spherical shell two ends and is connected through bearing with major axis.Can also be with spherical shell at vertex or lowermost ingear power wheel, this engagement system both can be that interior engagement also can be external toothing when vertex.
Said turning mechanism comprises the minor axis perpendicular to major axis, and this minor axis is installed on the major axis and with respect to the spherical shell central point, this minor axis can be around self rotational.The minor axis two ends are symmetrically installed with heavily pendulum, and heavily pendulum is enough heavy and as far as possible away from the centre of sphere, when the device swing, are used to provide the big as far as possible restoring force based on gravity can not topple over the assurance robot and gradually near balance position.The minor axis motor can drive heavily to put through bevel drive and swing, and realizes the skew of robot center of gravity.
According to an embodiment of the invention; A kind of actuating device that is used for the movable spherical robot of enhancement function is provided; Said device comprises: driver train and turning mechanism, it comprise be installed on the major axis center can be around the minor axis of self rotational, said minor axis bottom is equipped with the motor of two differential drivings; Contact roller on the motor shaft and spherical shell engagement, the minor axis bottom is fixed with counterweight.
Said actuating device is two servomotors, and its symmetry is fixed on the minor axis bottom, and the power wheel that compresses with spherical shell is housed on the motor shaft, can drive spherical shell and rotate together.The minor axis bottom is fixed with counterweight, and said counterweight is enough heavy so that the restoring force based on gravity that is enough to prevent the member overturning to be provided.
Said minor axis vertically is installed on the major axis center through bearing, and this minor axis can be around self rotational, and minor axis adopts motor fixing plate to replace, and is used to install two drive motor.
The spherical mobile device of enhancement function provided by the invention is body with the ball shape robot, installs the shell that is connected with major axis above that additional and realizes.It has following advantage:
1, adopt two motors to be implemented in the omnibearing ambulation on the two dimensional surface, simple in structure, be easy to control.
2, device inside subject framework is a major axis, on major axis, spreads out and stretches out minor axis and other structures around major axis, and to the circular space in the spherical shell, this layout helps the fixing of structure and reducing of being taken up space.
3, counterweight, major axis and shell are formed inverted pendulum mechanism, have kept the characteristics of traditional tumbler, make this device still can rely on self gravitation to distribute and realize standing, and have guaranteed its safety.
Description of drawings
Fig. 1 is that the spherical mobile device overall appearance of enhancement function provided by the invention is looked scheme drawing.
Fig. 2 A-C is the structural representation of several kinds of embodiments with flywheel mechanism of the spherical mobile device of enhancement function provided by the invention.
Fig. 3 A-B is the structural representation that a kind of embodiment of driving is heavily put in the dependence of the spherical mobile device of enhancement function provided by the invention.
Fig. 4 is the structural representation of a kind of embodiment with differential driving of the spherical mobile device of enhancement function provided by the invention.
The specific embodiment
For making technical scheme of the present invention, constructional feature clearer, the present invention is made further detailed description below in conjunction with accompanying drawing.
The demonstration that Fig. 1 is exemplary the overall appearance view of sphere travelling device of enhancement function of the present invention, the humanoid shell that should be appreciated that this figure just schematically characterizes and is not only to be confined to this a kind of shape.
What Fig. 2 A showed is an embodiment with flywheel mechanism of the present invention, and wherein 1 is the crawler body of device---spherical shell, and this spherical shell is made up of perpendicular to the hemispherical Shell that the plane of view surface and major axis separates two edges.2 is drive motor; It can drive the flange 4 that is fixed on the spherical shell end face and rotate around major axis 3 through certain type of drive; The type of drive here can be a pair of phase gear that is separately fixed on motor shaft and the flange; Major axis 3 is fixed on two axial ends in the spherical shell outer end with the humanoid shell 5 of device, is connected with flange 4 with the assurance spherical shell and can freely rotates and do not cause the motion of miscellaneous part around long axis ray through certain mode in the spherical shell end, in spherical shell inside; Partly change major axis the frame plate of two parallel installations into, so that the installation of drive motor and fly-wheel motor and miscellaneous part is fixing.Fly-wheel motor 7 is fixed through the motor fixing plate 6 that is fixed on the major axis center, and drives flywheel 8 rotations, and its installation direction is like figure, and humanoid shell straight up when the assurance flywheel fell in nadir owing to gravity.Flywheel is enough heavy, to such an extent as to can offer the restoring force based on gravity that the device maintenance is stood.So under normal circumstances, device remain at the diagram attitude or with the diagram attitude be that equilibrium point waves.When the controlling and driving motor rotates; Promptly produce the motion that major axis rotates with respect to spherical shell, swing forward or backward, cause the skew in the same way of device center of gravity because the major axis rotation can drive the flywheel of big quality; The center of gravity of whole device has been in the place ahead or the rear of spherical shell and ground contact point at this moment; To take place and centre-of gravity shift motion in the same way at gravitational moment effect lower device, finally to cause device single-piece motion be spherical shell advances or retreats around major axis rotating drive integral body, thereby has realized moving forward and backward.When fly-wheel motor quickened or slow down rotation, the flywheel that can drive big quality rotated together, and based on the conservation of angular momentum principle, the device miscellaneous part can rotate in the opposite direction, from the outside, has then realized turning.When robot was turned, the major axis motor both can rotate also can stall, the turning during robot can be realized advancing and two kinds of turning modes of pivot turn.
What Fig. 2 B and 2C showed is other embodiment of the present invention, and different with Fig. 2 A scheme is the installation of actuating device.Fig. 2 B be with drive motor through being installed in the top that adapter plate on the major axis is fixed in the spherical shell inner space, and realize driving that spherical shell is rotated around major axis through the power wheel that compresses with spherical shell.Fig. 2 C is fixed in drive motor on the humanoid shell, and the power wheel on the motor shaft is compressed at spherical shell vertex place and spherical shell, to realize the driving to spherical shell.
What Fig. 3 a and 3b showed is a kind of embodiment that driving is heavily put in dependence of the present invention, and wherein 3a is the positive view of this embodiment, and Fig. 3 b is the birds-eye view of this embodiment, and its external structure and Fig. 2 are similar, forms by humanoid shell, spherical shell and major axis.Inner at spherical shell, major axis still adopts two frame plates to form, dress drive motor on it, and drive motor green phase engaging gear or drive pulley drive spherical shell and rotate around major axis.Added vertical with it minor axis in the middle of the major axis, the suspension of minor axis two ends is pendulum heavily, and the minor axis motor is fixed in major axis inside through adapter plate, but this motor rotate through certain type of drive live stub axle, thereby drive swinging of heavily putting.Heavily pendulum requires enough to weigh, and the lower end camber line is concentric and big as far as possible at the circle of heavily putting in the plane of oscillation with spherical shell, so that center of gravity is lower.It is that equilibrium point waves with attitude shown in Fig. 3 a perhaps that the normal circumstances lower device can remain on attitude shown in Fig. 3 a all the time.When drive motor rotated, device can advance or retreat, and it is the same on principle with embodiment shown in Figure 2.When the minor axis motor rotated, skew about the device center of gravity takes place can be toppled over to the centre-of gravity shift direction in that gravitational moment effect lower device is whole, and the effect that cooperates the drive motor drives device to advance is then installed the turning of general performance in the middle of going out to advance.Turn after the end, may command minor axis motor is put go back to position shown in Fig. 3 a, and then device can slowly return to the diagram attitude.
Predictably, in the embodiment shown in Fig. 3 a, the major axis motor changes mounting means shown in Fig. 2 b or Fig. 2 c into, then the device still can realize original function, its with Fig. 3 a illustrated embodiment conceptive be the same, just repeat no more here.
What Fig. 4 showed is a kind of embodiment that driving is heavily put in dependence of the present invention, and its external structure still is made up of spherical shell 1, major axis 2 and humanoid shell 3.Inner at spherical shell, minor axis 4 straight down is housed, as shown in the figure.In minor axis bottom, two motors 5 and 6 and counterweight are installed successively, wherein two motors are installed as are illustrated, and the power wheel that compresses with spherical shell is arranged on the motor shaft, and drive motor can drive spherical shell through power wheel and rotate around major axis.The effect of counterweight is that the center of gravity with device reduces as far as possible, when major axis occur to rotate, can provide restoring force assurance device based on gravity to be in the diagram attitude all the time or is the equilibrium point reciprocally swinging with the diagram attitude.Here require two electrical axis to want in-line, two motors can differentially drive.When two motors when constant speed is rotated in the same way, the driven by motor counterweight climbs up along spherical shell around major axis, causes whole centre-of gravity shift, thus the advancing of implement device.When the reverse constant speed of two motors was rotated, based on the conservation of angular momentum principle, device showed as backward rotation, thereby realized pivot turn.When two motor speeds are inequality, turning round during then device shows as and advances.
Claims (9)
1. the spherical mobile device of an enhancement function, it comprises: shell, shell and major axis are connected, and have certain given shape; Driver train and turning mechanism; It is all by motor-driven, and inside is equipped with counterweight, counterweight can be flywheel, heavily the pendulum etc.; At least one motor can drive counterweight and rotate around major axis with respect to spherical shell, and said counterweight is enough heavy so that the restoring force based on gravity that is enough to prevent the member overturning to be provided;
Traveling gear, it comprises and major axis two ends bonded assembly spherical shell that said spherical shell can not cause the rotation that miscellaneous part is synchronous around the major axis rotation.
2. the spherical mobile device of enhancement function according to claim 1; It is characterized in that: said major axis stretches out the spherical shell part to be fixed with shell; These major axis two ends are connected with flange on being fixed on spherical shell; Make spherical shell and can not cause being synchronized with the movement of miscellaneous part around the major axis rotation, the inner two frame plate members that adopt symmetry to install of spherical shell replace traditional major axis, so that process and assembly technology.
3. the spherical mobile device of enhancement function according to claim 1 and 2; It is characterized in that: shell, major axis and counterweight have constituted the inverted pendulum structure; The proportion that counterweight accounts for the robot oeverall quality is very big; Make the robot center of gravity below major axis, the circular spherical shell of bottom contacts with ground, has guaranteed that device can oneself keep standing in outage.
4. type of drive that is used for the spherical mobile device of enhancement function, it comprises:
Driver train; It comprises actuating device and driving device; Actuating device is a motor, be fixed on major axis or the shell that is connected with major axis on, driving device can be phase gear or the power wheel that compresses with spherical shell etc.; Be installed on the motor shaft and with spherical shell or be connected in the structure engages on the spherical shell, can drive spherical shell and rotate with respect to major axis;
Turning mechanism, it comprises that one is fixed on the minor axis on the major axis, and fly-wheel motor is installed on the minor axis, is equipped with flywheel on the motor shaft.
5. a kind of type of drive that is used for the spherical mobile device of enhancement function according to claim 4 is characterized in that: said actuating device is a servomotor, its be fixed on major axis or the shell that is connected with major axis on, motor shaft and major axis axially parallel.Said transmission device can be a pair of engaging gear that is installed on respectively on drive motor axle and the spherical shell flange, and said spherical shell flange is fixed on the spherical shell two ends and is connected with major axis is rotating; Can also be with spherical shell at the vertex place ingear power wheel, this engagement system both can be that interior engagement also can be external toothing; Said turning mechanism comprises the minor axis perpendicular to major axis, and this minor axis adopts motor fixing plate to replace, and is used to install fly-wheel motor; Wherein fly-wheel motor axis normal major axis is in sphere center position and major axis dorsad; Be equipped with flywheel on it, flywheel is enough heavy, can be used for providing the restoring force based on gravity can not topple over to guarantee robot; Motor can drive flywheel and rotate, and realizes the turning of robot.
6. the type of drive of the spherical mobile device of an enhancement function, it comprises:
Driver train, it comprises drive motor, said drive motor can make in-to-in heavily put to rotate obtaining with respect to spherical shell through certain type of drive and move;
Turning mechanism, it comprises the minor axis motor, said minor axis motor is installed on the major axis, and can drive heavily that pendulum swings through certain type of drive.
7. the type of drive of the spherical mobile device of a kind of enhancement function according to claim 6, it is characterized in that: said actuating device is a servomotor, its be fixed on major axis or the shell that is connected with major axis on, motor shaft and major axis axially parallel; Said transmission device can be a pair of engaging gear that is installed on respectively on drive motor axle and the spherical shell flange; Can also be with spherical shell at vertex or lowermost ingear power wheel, this engagement system both can be that interior engagement also can be external toothing when vertex; Said spherical shell flange is fixed on the spherical shell two ends and is connected with major axis is rotating; Said turning mechanism comprises the minor axis perpendicular to major axis, and this minor axis is installed on the major axis and with respect to the spherical shell central point, this minor axis can be around self rotational.The minor axis two ends are symmetrically installed with heavily pendulum; Heavily pendulum enough weighs and tries one's best away from the centre of sphere; Be used to provide the big as far as possible restoring force based on gravity to guarantee that robot can not be toppled over and when when swing device gradually near balance position; The minor axis motor can drive heavily to put through certain type of drive and swing, and realizes the skew of robot center of gravity.
8. the type of drive of the spherical mobile device of an enhancement function, it comprises:
Driver train and turning mechanism, it comprise be installed on the major axis center can be around the minor axis of self rotational, said minor axis bottom is equipped with the motor of two differential drivings, contact roller on the motor shaft and spherical shell engagement, the minor axis bottom is fixed with counterweight.
9. the type of drive of the spherical mobile device of a kind of enhancement function according to claim 8; It is characterized in that: said actuating device is two servomotors; Its symmetry is fixed on the minor axis bottom, and the power wheel that compresses with spherical shell is housed on the motor shaft, can drive spherical shell and rotate together.The minor axis bottom is fixed with counterweight, and said counterweight is enough heavy so that the restoring force based on gravity that is enough to prevent the member overturning to be provided.Said minor axis vertically is installed on the major axis center through certain mode, and this minor axis can be around self rotational, and minor axis adopts motor fixing plate to replace, and is used to install two drive motor.
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| CN2011103303905A CN102407890A (en) | 2011-10-27 | 2011-10-27 | Spherical moving device with enhanced function |
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| CN2011103303905A CN102407890A (en) | 2011-10-27 | 2011-10-27 | Spherical moving device with enhanced function |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960588A (en) * | 2015-07-27 | 2015-10-07 | 王学贵 | Spherical walking platform |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN105564523A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Robot for exploring complicated terrains |
| CN105599817A (en) * | 2016-03-02 | 2016-05-25 | 东南大学 | Spherical robot with jump function |
| CN107097864A (en) * | 2017-06-02 | 2017-08-29 | 中国人民解放军理工大学 | A kind of inflation ball shape robot certainly |
| WO2018195839A1 (en) * | 2017-04-27 | 2018-11-01 | 深圳鼎极智慧科技有限公司 | Spherical robot |
| CN108748114A (en) * | 2018-08-20 | 2018-11-06 | 安徽爱依特科技有限公司 | Preschool education robot not reversed structure |
| CN109011600A (en) * | 2018-10-12 | 2018-12-18 | 苏州七巧板日用品科技有限公司 | It is a kind of to fill out weight formula tumbler fitness equipment with adjusting block |
| CN109169368A (en) * | 2018-11-08 | 2019-01-11 | 江苏中恒宠物用品股份有限公司 | A kind of spherical shape roly-poly type pet toy |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
| CN111806587A (en) * | 2020-07-21 | 2020-10-23 | 山东建筑大学 | Self-adaptive stable-balance single-foot robot |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN112810716A (en) * | 2021-03-17 | 2021-05-18 | 章征凯 | Posture adjusting device |
| CN113173212A (en) * | 2021-05-13 | 2021-07-27 | 哈尔滨工业大学 | Tumbler type soft jumping robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960588A (en) * | 2015-07-27 | 2015-10-07 | 王学贵 | Spherical walking platform |
| CN105564523A (en) * | 2015-10-16 | 2016-05-11 | 朱虹斐 | Robot for exploring complicated terrains |
| CN105416428A (en) * | 2015-11-03 | 2016-03-23 | 北京邮电大学 | Spherical robot with in-situ rotation function carried with control moment gyro |
| CN105599817A (en) * | 2016-03-02 | 2016-05-25 | 东南大学 | Spherical robot with jump function |
| CN105599817B (en) * | 2016-03-02 | 2018-06-05 | 东南大学 | A kind of ball shape robot for possessing skip capability |
| WO2018195839A1 (en) * | 2017-04-27 | 2018-11-01 | 深圳鼎极智慧科技有限公司 | Spherical robot |
| CN107097864A (en) * | 2017-06-02 | 2017-08-29 | 中国人民解放军理工大学 | A kind of inflation ball shape robot certainly |
| CN108748114A (en) * | 2018-08-20 | 2018-11-06 | 安徽爱依特科技有限公司 | Preschool education robot not reversed structure |
| CN109011600A (en) * | 2018-10-12 | 2018-12-18 | 苏州七巧板日用品科技有限公司 | It is a kind of to fill out weight formula tumbler fitness equipment with adjusting block |
| CN109169368A (en) * | 2018-11-08 | 2019-01-11 | 江苏中恒宠物用品股份有限公司 | A kind of spherical shape roly-poly type pet toy |
| CN111216141A (en) * | 2020-02-03 | 2020-06-02 | 北京邮电大学 | But butt joint reconsitution spherical robot |
| CN111216141B (en) * | 2020-02-03 | 2021-10-26 | 北京邮电大学 | But butt joint reconsitution spherical robot |
| CN111806587A (en) * | 2020-07-21 | 2020-10-23 | 山东建筑大学 | Self-adaptive stable-balance single-foot robot |
| CN112548984A (en) * | 2020-12-10 | 2021-03-26 | 逻腾（杭州）科技有限公司 | Rolling obstacle crossing robot with telescopic arm |
| CN112810716A (en) * | 2021-03-17 | 2021-05-18 | 章征凯 | Posture adjusting device |
| CN113173212A (en) * | 2021-05-13 | 2021-07-27 | 哈尔滨工业大学 | Tumbler type soft jumping robot |
| CN113173212B (en) * | 2021-05-13 | 2022-06-28 | 哈尔滨工业大学 | Tumbler type soft jumping robot |
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Application publication date: 20120411 |