CN102849140A - Multi-moving-mode bionic moving robot - Google Patents

Multi-moving-mode bionic moving robot Download PDF

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Publication number
CN102849140A
CN102849140A CN2012103717248A CN201210371724A CN102849140A CN 102849140 A CN102849140 A CN 102849140A CN 2012103717248 A CN2012103717248 A CN 2012103717248A CN 201210371724 A CN201210371724 A CN 201210371724A CN 102849140 A CN102849140 A CN 102849140A
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robot
joint
machine
connecting rod
wheel
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CN102849140B (en
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张明路
宋孟军
张小俊
孙凌宇
张建华
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BHP robot (Tianjin) Co.,Ltd.
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Hebei University of Technology
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Abstract

The invention discloses a multi-moving-mode bionic moving robot, which is characterized by consisting of a machine body platform, six machine legs in the same structures, a video monitoring system based on 3G (3rd generation) network and a double-rocker-rod remote operation and control system based on remote operation, wherein the machine legs comprise four joint parts and one wheel part, each joint part is driven by a large-torque steering engine with the rotating angle being 180 degrees, one steering engine is in charge of driving one joint, the wheel parts are driven by large-toque steering engines with the rotating angle being 360 degrees, and the whole circle rotation can be realized. The two ends of the steering machine rotating center shaft are respectively fixed by bearings, the six machine legs are symmetrically arranged at two sides of the robot machine body platform for forming a bionic mechanism, a connecting rod arranged at the lower end of the machine legs adopts a right-angle reverse L-shaped deign, one end of the connecting rod is connected with the machine body, the other end of the connecting rod is in contact with the ground, the video monitoring system mainly comprises a sending end and a receiving end, and the remote operation and control system carries out operation and control by aiming at the six machine legs, and mainly comprises a sending end and a receiving end.

Description

The bionical mobile robot of a kind of multi-locomotion mode
Technical field
The present invention relates to Robotics, be specially the bionical mobile robot of a kind of multi-locomotion mode.
Background technology
In mobile robot's traveling gear, studying more is wheeled robot, caterpillar type robot and the legged mobile robot with bionic function (or claiming bio-robot).Wherein most effective with the movement of wheeled robot, motion is flexible, control is relative simple with development, but its landform adaptive capacity is relatively relatively poor; Caterpillar robot is stronger to the adaptive capacity of landform, and load-carrying capacity is larger, and it is comparatively steady to walk, but Turning travel and dumb, moving velocity is relatively slow; And bio-robot has leg formula mechanism, and its adaptive capacity is relatively the strongest, but its efficient is lower.Merits and faults with reference to above-mentioned mobile robot, the travel mechanism of some robot, wheel type mobile mechanism and leg formula travel mechanism are combined, be combined into movable robot with wheel legs, strengthened road worthiness and the crossing ability of mobile robot under the complex road condition environment, be that movable robot with wheel legs is with the advantage of bio-robot and wheeled mobile robot, can under varying environment, adopt the different strategies of advancing, greatly improve mobile robot's speed of advance and landform adaptive capacity, become a main direction of current outdoor machine human hair exhibition.
Bionical mobile robot refers to imitate the mobile robot of many animals motion, comprises quadruped mammal, six sufficient insects and eight sufficient Reptilias etc.Therefore bionical mobile robot mechanism model is set up based on polypody travel mechanism, has good stability, but flexible motion being not easy to occur rollover and toppling etc., have stronger application, also more for this type of mobile robot's research.The multi-locomotion mode bio-robot is by the conversion ball and socket structure, can realize the conversion between the multi-motion modes, such as the conversion between insect motion pattern and the mammal mode of motion etc., so its integrated model has the distortion function, belongs to restructural mechanism and bionical restructural engineering category.This type of mobile robot's flexible motion ability, landform adaptive capacity etc. all can be further improved, and become just gradually the focus of concern.
The substantive issue that multi-locomotion mode bio-robot system will solve is, by the working environment of robot, the technical indexs such as concrete function that will realize are carried out combination property analysis, design the optimum pedipulator of a cover, make the machine leg can under corresponding control command, realize the action of regulation.The matter of utmost importance of mobile apparatus leg system is to determine advancing and configural way of its mechanism, and that the single mode of advancing mainly contains is wheeled, leg formula and crawler type.But the single mode of advancing can not satisfy the requirement of complex-terrain, thereby mostly adopts the compound mode of advancing of the two or more modes of advancing now, and such robot platform has stronger adaptive capacity to complex-terrain.
More typically taking turns in recent years the leg mobile robot mainly contains: 1, U.S.'s " curious number " mars exploration car, this machine artificial six is taken turns the leg mobile robot, characteristics with wheeled robot and legged mobile robot, its landform adaptive capacity is improved, but because this class robot adopts suspension fork mechanism, its flexible mobility can still be limited to, the efficient of advancing is not high, and landform adaptive capacity and obstacle climbing ability etc. also have limitation; 2, the ATHLETE six in U.S. JPL laboratory takes turns the leg mobile robot, this class machine obstacle climbing ability is stronger, can move flexibly, and can finish the multi-motion function, adapt to multiple landform, but affected by its dynamic performance, its efficiency of movement is lower, and because its mechanism's configuration is simple, the motor number is more, the complete machine energy consumption is larger again; 3, the halluc II mobile robot of Chiba, Japan university development is because having " distortion " function, its locomotivity is further enhanced, can realize wheel, leg, wheel-leg combined type motion, but this robot control system is complicated, equally also has the problems such as energy consumption, volume.
Summary of the invention
For the deficiencies in the prior art, the technical matters that quasi-solution of the present invention is determined is, provide a kind of multi-locomotion mode bionical mobile robot, this robot has six machine leg and right angle inverted L shape connecting rod and distortion joints that structure is identical, every leg all adopts large torsion motor, cooperatively interact, can realize the driving of 5 degree of freedom, whole piece machine leg is the open chain serial mechanism, by regulating each joint angles on 6 legs, realize the conversion of machine leg between various modes, to improve robot to the adaptive capacity of different terrain.Under the prerequisite that realizes described functional requirement, robot of the present invention adopts 3G point-to-point communication network, has the remote real-time monitoring function, and according to Human Engineering Principle, adopt double rocking lever to carry out remote wireless control, therefore control is relatively simple, it is strong that this robot has load-carrying capacity simultaneously, quality is light, and volume is little, and modularization is convenient to the characteristics such as equipment.
The technical scheme that the present invention solve the technical problem is, design the bionical mobile robot of a kind of multi-locomotion mode, it is characterized in that this robot is by fuselage platform, machine leg that 6 structures are identical, form based on the video monitoring system of 3G network with based on the distant control system of remote-operated double rocking lever; Described machine leg has 4 joint portions and a wheel section, totally 5 degree of freedom, each joint portion is the large torsion servo drivings of 180 degree by the anglec of rotation, a steering wheel is responsible for driving a joint, wheel section is the large torsion servo driving of 360 degree by the anglec of rotation, can rotate by complete cycle; The two ends of steering wheel rotary middle spindle are fixed by bearing; Article six, the machine leg is symmetrically arranged in the both sides of robot fuselage platform, forms bio-mechanism; End link adopts right angle inverted L shape design under the described machine leg, and the one end is connected with fuselage, and the other end contacts with ground;
Described video monitoring system mainly comprises sending end and receiving end based on 3G network; Receiving end mainly is USB camera, arm9 development board, 3G wireless network card and power module; Sending end mainly is Liquid Crystal Display, arm9 development board, 3G wireless network card and power module;
Described distant control system carries out distant operation control for described 6 machine legs, mainly comprises sending end and receiving end; Sending end mainly is two control rocking bars, AD acquisition module, single chip processing module and wireless serial transmitter modules; Receiving end mainly is wireless serial receiver module, micro controller system, CPLD module, photoelectric coupling module and motor.
Compared with prior art, robot of the present invention adopts the wheel-leg combined type structure, adopts double rocking lever to carry out the formulation of distant operation control, control protocol so that control process is relatively simple, adopts wheeled method to advance in ground grading, and energy consumption significantly reduces; Adopt the mode method of wheel leg composite coordination motion to move under complex-terrain, efficient greatly improves.Robot of the present invention is because special structure design, shank design by distortion joint and right angle inverted L shape bar linkage structure, can make robot can more take full advantage of robot self joint and constructional feature, further improved the alerting ability of robot, not only can cross over the obstacle of certain altitude, also can cross over the pit of certain-length; The inverted L shape link design can reduce the whole center of gravity of robot simultaneously, is beneficial to the action of robot fast and stable, and difficult generation side is covered and tumbled; Also reduce the whole height of robot, pass through narrow and small slit thereby be beneficial to, improve locomotivity; Right angle inverted L shape link design also helps slope climbing movement, has stronger landform adaptive capacity and capacity of road.
Description of drawings
Fig. 1 is the whole three-dimensional structure scheme drawing of a kind of embodiment of the bionical mobile robot of multi-locomotion mode of the present invention.
Fig. 2 is the mechanism principle scheme drawing of a kind of embodiment of the bionical mobile robot's wall scroll of multi-locomotion mode of the present invention machine leg.
Fig. 3 is the complete assembling 3 d structure model figure of a kind of embodiment of the bionical mobile robot's wall scroll of multi-locomotion mode of the present invention machine leg.
Fig. 4 is the sending end system diagram of diagram of circuit of the point-to-point video acquisition of 3G network of a kind of embodiment of the bionical mobile robot of multi-locomotion mode of the present invention.
Fig. 5 is the receiving terminal system figure of the diagram of circuit of the point-to-point video monitoring system demonstration of the 3G network of a kind of embodiment of the bionical mobile robot of multi-locomotion mode of the present invention.
Fig. 6 is the remote operating system control end diagram of circuit of a kind of embodiment of the bionical mobile robot of multi-locomotion mode of the present invention.
Fig. 7 is the remote operating system receiving end diagram of circuit of a kind of embodiment of the bionical mobile robot of multi-locomotion mode of the present invention.
The specific embodiment
Be described in detail the present invention below in conjunction with embodiment and accompanying drawing thereof.Embodiment is the implementation explanation of carrying out take technical scheme of the present invention as prerequisite, has provided detailed embodiment and process.But the claim protection domain of the present patent application is not limited to the description scope of described embodiment.
The bionical mobile robot of multi-locomotion mode (hereinafter to be referred as robot, referring to Fig. 1-7) of the present invention's design mainly adopts connecting rod mechanism as transmission device, adopts motor to add the joining mode driving joint of support corner and changes.Concrete mechanism characteristics is:
Robot of the present invention is seen from mass motion relation can be divided into three component parts, namely be responsible for robot body motion and supporting relation the robot body physical construction, be responsible for realizing the mobile robot based on the video monitoring system of 3G network and be responsible for realizing the distant operation control system of remote-wireless control.Robot body embodiment of the present invention is comprised of 6 identical machine legs of mechanism altogether, belong to modular design, and machine design is relatively simple and easy, is convenient to realize fast assembling-disassembling, is convenient to the needs of robot reply actual working environment.
The structure of described each the bar machine leg of robot of the present invention is all identical, be connecting rod mechanism (referring to Fig. 1-3), embodiment has the assembling that 15 different parts participate in whole piece machine leg, comprises joint two steering wheel connecting panels 11, anchor shaft and large leg connecting rod 12, stay bearing plate 13, joint three usefulness connecting panels 14, joint three usefulness steering wheels 15, right angle inverted L shape connecting rod 16, shank connecting panel 17, joint four-function steering wheel 18, joint four-function connecting panel 19, wheel 110, wheel section connecting panel 111, wheel section drives with steering wheel 112, joint dual-purpose steering wheel 113, fuselage connecting panel 114 and motor 115.Motor 115 is responsible for driving the pedipulator of 5 rotary freedoms, and 5 motors 115 are steering wheel.Steering engine output torque is large, and maximum can reach 30 kilograms per centimeter, and minimum also reaches 20 kilograms per centimeter.The machine leg mainly contains wheel 110, joint 4 116, joint 3 117, joint 2 118, joint 1 and fuselage platform 2.Connecting between machine leg and the robot body is that rotatablely moving of positive and negative 90 degree can be done in 119, the first joints 119, the first joint; Joint one and thigh connection place are second joint 118, and second joint 118 can be done rotatablely moving of positive and negative 90 degree in the vertical direction, and the pivot center in joint two is just crossing with the pivot center in joint one in theory, thereby is convenient to theoretical analysis and control; Thigh and shank connection place are the 3rd joint 117, and joint three main responsible two connecting rods that will represent thigh and shank link up, and are responsible for simultaneously the rotational motion of shank, can do positive and negative 90 degree with respect to thigh bar and rotatablely move; The shank ankle-joint is the 4th joint 116, namely is out of shape the position, joint, joint four can be positive and negative 90 degree rotations, thereby can drive wheel 110 towards the different directions motion, and then drive whole robot and move thereupon.The end of whole pedipulator is wheel 110 positions, and wheel section can be by positive and negative 360 degree complete cycle direction rotations, and can the motion of 0 speed, namely stops operating; When stopping operating, wheel 110 will move as the end of machine leg, is convenient to robot and moves in bionical mode, improves the flexibility (referring to Fig. 1, Fig. 2) of robot.
Described motor 115 embodiment are 20 kilograms of high pulling torque steering wheels (referring to Fig. 3), are installed on the upside of fuselage platform 2, captive joint with machine leg support 11 by one group of adapter shaft parts, thereby can drive whole piece machine leg left-right rotation; Bearing is installed in the middle of the adapter shaft parts, outside race and 114 assemblings of fuselage connecting panel, whole machine leg is fixed on the fuselage, and finally by bolt connecting panel 114 and steering wheel is fixed on the fuselage platform 2 together, can guarantee firm installation and the steady running of machine leg; Joint two steering wheel connecting panels 11 are assembled by two screws above the steering wheel with the steering wheel body, joint dual-purpose steering wheel 113 opposite sides, bearing is installed, and be connected with large leg connecting rod 12 by anchor shaft, joint dual-purpose steering wheel 113 embodiment are 30 kilograms of high pulling torque steering wheels, can drive rotatablely moving of steering wheel one side connecting rod and large leg connecting rod 12 works 180 degree, i.e. positive and negative 90 degree; Two large leg connecting rods 12 that three usefulness steering wheels, 15 both sides, joint are connected with joint dual-purpose steering wheel 113 connect, and its connection mode is identical with the connection mode of dual-purpose steering wheel 113 both sides, joint; Joint three usefulness steering wheels 15 are similarly 30 kilograms of high pulling torque steering wheels.
Whole steering wheel is fixed on the right angle inverted L shape connecting rod 16 by two the diagonal angle screws of self, because right angle L-type connecting rod 16 links to each other with outermost connecting rod 12 by steering wheel, and connecting rod 12 left sides (Fig. 3) link to each other with joint dual-purpose steering wheel 113, therefore the relative outermost connecting rod of connecting rod three, stay bearing plate 13 and large leg connecting rod 12 are done relative motion, and namely joint three is with respect to joint two motions; Why connecting rod three adopts right angle inverted L shape bar linkage structure to mainly contain following reason: at first, the position that the right angle more traditional bio-mechanism of inverted L shape connecting rod mechanism has reduced the robot body center of gravity, move thereby be beneficial to the robot fast and stable, difficult generation side is covered and is tumbled; When the robot center of gravity reduced, the robot whole height also decreased, and passes through narrow and small gap space thereby be beneficial to robot body, improved the adaptive capacity to environment of robot; At last, right angle inverted L shape connecting rod 16 is the right angle connecting rod mechanism, therefore, a square edge of connecting rod can be used as a shank of robot and uses, especially at circumstance complication, or in the situation about breaking down of other joints or position, robot can utilize the shank motion, thereby further strengthen machine the survival of human beings ability, also right angle inverted L shape connecting rod 16 can be used as ancon mechanism simultaneously, thereby can realize robot crawl advance, the further locomotivity that improves robot comprises hill climbing ability, obstacle climbing ability and the Crossing ditch ability etc. that can improve robot; Therefore, the structure of design right angle inverted L shape connecting rod 16 can finally realize the locomotivity of various ways, and then gives full play to the adaptive capacity of robot under various environment.
Right angle inverted L shape connecting rod 16 is equipped with joint four-function steering wheel 18 near the wheel place, the specified output torque of joint four-function steering wheel 18 is 20 kilograms every centimetre, angle range with 180 degree, can realize that wheel moves towards different directions, and can cooperate other 5 machine legs, finish the various motions of robot integral body, and then can realize the conversion between the robot multi-motion modes, therefore joint four also is the distortion joint, can help the conversion between the robot realization multi-motion modes; Joint four-function steering wheel 18 is fixedly connected by joint four-function connecting panel 19 place parts and right angle inverted L shape connecting rod 16, and joint four-function steering wheel 18 is connected and fixed axle by steering wheel, and links to each other with connecting panel 111 with wheel section.Wheel section is the panel beating bending component with connecting panel 111, wheel section parts are installed on it, wherein wheel one side is connected by anchor shaft with steering wheel, and be installed to wheel section with connecting panel 111 by polylith connecting panel combination, it is 20 kilograms every centimetre that wheel section drives with steering wheel 112 moments of torsion, can do 360 degree integral cycle rotatings (referring to Fig. 3).Wherein the mechanism of pedipulator has adopted the novelty design, it is right angle inverted L shape connecting rod 16, adopted the perpendicular Configuration Design of two connecting rods, it is the form behind the class-letter L 90-degree rotation, thereby can reduce the center of gravity of robot body, increase simultaneously the characteristics of the bionical ancon motion of pedipulator, improve the application power of robot; At right angle inverted L shape connecting rod 16 ends, namely shank is terminal, and joint four-function steering wheel 18 is installed, to realize the distortion function in joint four; Other utilizes the wheel section mechanical specialities of connecting panel 111, mouth and the driving of wheel section of joint four-function steering wheel 18 are fixed together with steering wheel 112, namely wheel section adopts the right angle frame structure with connecting panel 111, with the rotation axis in mutually orthogonal joint four and the rotation axis of wheel 110, be consolidated, realized the flexible motion of robot, more traditional leg formula bio-robot has increased multi-motion modes, one is connected the position and adopts wheel section with connecting panel 11 two steering wheels to be connected with the joint in the joint, and the mode that adopts axle sleeve to cooperate is connected with connecting panel 11 wheel section with joint one usefulness steering wheel 115, two large leg connecting rods 12 are fastenedly connected by connecting panel 13, connecting rod 16 both sides have adopted joint three usefulness connecting panels 14 to be connected connecting panel 17 to connect with shank equally, so that the pedipulator both sides become i-beam structure, thereby make comparatively firm stable of pedipulator integral structure, load-bearing capacity is strong.The part material of pedipulator is mainly aluminum alloy plate materials, and lighter weight is convenient to motion and control.
According to bionics principle, robot of the present invention adopts the symmetrical structure design, the symmetrical reasonable Arrangement of 6 machine legs on the robot body is in the both sides of fuselage platform, be convenient to robot stabilized movement, and its coordinated movement of various economic factors can be finished the motion of various modes, for example can imitate insect and move, and the imitation quadruped mammal moves, the imitation automobile to overtake, and the compound action (referring to Fig. 1) such as finish to spin in the original place.
The described video monitoring system of robot of the present invention comprises sending end and receiving end based on 3G network; Receiving end mainly is USB camera, arm9 development board, 3G wireless network card and power module; Sending end mainly is Liquid Crystal Display, arm9 development board, 3G wireless network card and power module.On the robot fuselage, camera is installed, pass through drive program, and utilize the V4L2 drive program, can finish the collection of vision data, coding and decoding, utilize UDP communication protocol to transmit, and whole data processor is all by finishing based on the embedded board of arm920T kernel.In the design of robot of the present invention, the vision transmission system has adopted the 3G network communication technology, take arm9 hardware system and linux operating system as the basis, realize the application of point-to-point communication on bionical mobile robot that image acquisition and image show, namely finally used application on bionical mobile robot of image transmission function that 3G network realized terminal-to-terminal service (system's main-process stream can referring to Fig. 4).Receiving end is positioned in face of the operator, by the configuration of 3G network interface card by the 3G NIC driver, smoothly communication data is sent to the QT programming module, and utilize the QT programming module to carry the UDP network communication protocol, will gather data to give Liquid Crystal Display and show (system's main-process stream can referring to Fig. 5).The vision transmission system is comprised of receive data end and transmission data terminal, sends data terminal by the external 3G network interface card of arm9 development board, circumscribed USB camera, the external source module forms, and accepts data terminal, by the external 3G network interface card of arm9 core development board, external liquid crystal touch screen, the external source module forms.
The described distant operation control system of robot of the present invention mainly comprises sending end and receiving end; Sending end: two control rocking bar by about two hands control, and a simulation model sends to the AD acquisition module, after the AD acquisition module is processed data, with digital signal transfers to single chip processing module, data after one-chip computer module will be processed by serial communication protocol send to the wireless serial module, and at last data communication device are crossed antenna and sent (system's main-process stream can referring to Fig. 6); Receiving end: the data that send over, by antenna reception, and be responsible for being transferred to the wireless serial receiver module, transfer data to micro controller system by serial communication and process, the data retransmission after the processing is to the CPLD module, and CPLD is mainly for generation of the PWM data-signal of multichannel steering wheel control, final these PWM data-signals, by photoelectric coupling circuit, send to motor, wherein photoelectric coupling circuit is mainly used in removing interfering signal (system's main-process stream can referring to Fig. 7).According to Human Engineering Principle, it is more to take into full account this machine person joint number, coordinate the difficult characteristics of control, adopted the double rocking lever operating mode, draft by rational agreement, utilizing two rocking bars that the machine leg on the robot body is divided into two groups controls respectively, utilize CPU (micro controller system) that control policy is carried out calculation process, and stability and the reliability of each motor action in design process, have been taken into full account, control circuit and hardware are optimized, have finally realized the coordinated manipulation of double rocking lever to six legs of robot.Main rod end is the data command sending end, and data receiver is installed on the robot fuselage (overall system flow process can referring to Fig. 6).
What need supplemental instruction is, of the present invention " forward and backward; Left and right; Upper and lower " etc. the noun of locality be in order to be described clearly, only to have relative meaning.Generally speaking, the direction of advancing forward take pedipulator as before, and as the benchmark of other nouns of locality.
Principle of work of the present invention and process are as follows, two rocking bars of operating personal operation, send action command, robot receives the control command of being sent by operating personal and moves, by regulating the attitude of each rocking bar, can realize the motion in the different joints of robot, the right-hand man can change the control to each bar leg at any time, simultaneously realtime graphic can be by being installed in the camera collection on the robot body and sending on the operator's station liquid crystal display, thus operating personal can by in face of liquid crystal display realize accurate judgement to robot road ahead situation.
Robot of the present invention can be applicable to the fields such as fire-fighting, public safety, military surveillance and the rescue disaster relief, has quality light (the robot body quality of embodiment is 11kg only), volume little (robot body of embodiment is long * wide: 400mm * 800mm) is easy to carry and the characteristics such as equipment.
The present invention does not address part and is applicable to prior art.

Claims (1)

1. bionical mobile robot of multi-locomotion mode is characterized in that this robot is by fuselage platform, machine leg that 6 structures are identical, form based on the video monitoring system of 3G network with based on the distant control system of remote-operated double rocking lever; Described machine leg has 4 joint portions and a wheel section, totally 5 degree of freedom, each joint portion is the large torsion servo drivings of 180 degree by the anglec of rotation, a steering wheel is responsible for driving a joint, wheel section is the large torsion servo driving of 360 degree by the anglec of rotation, can rotate by complete cycle; The two ends of steering wheel rotary middle spindle are fixed by bearing; Article six, the machine leg is symmetrically arranged in the both sides of robot fuselage platform, forms bio-mechanism; End link adopts right angle inverted L shape design under the described machine leg, and the one end is connected with fuselage, and the other end contacts with ground;
Described video monitoring system mainly comprises sending end and receiving end based on 3G network; Receiving end mainly is USB camera, arm9 development board, 3G wireless network card and power module; Sending end mainly is Liquid Crystal Display, arm9 development board, 3G wireless network card and power module;
Described distant control system carries out distant operation control for described 6 machine legs, mainly comprises sending end and receiving end; Sending end mainly is two control rocking bars, AD acquisition module, single chip processing module and wireless serial transmitter modules; Receiving end mainly is wireless serial receiver module, micro controller system, CPLD module, photoelectric coupling module and motor.
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CN104527835A (en) * 2015-01-15 2015-04-22 天津智达机器人有限公司 Robot capable of being switched between wheel mode and leg mode
CN104527835B (en) * 2015-01-15 2016-08-31 天津智达机器人有限公司 A kind of wheel changeable robot of leg pattern
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CN106730554A (en) * 2016-11-12 2017-05-31 常州大学 Intelligent early-warning firefighting robot based on built-in Linux
CN108791560A (en) * 2018-05-23 2018-11-13 哈尔滨理工大学 It is a kind of can coordinated regulation multi-foot robot single leg operation and body translation remote control system and control method
CN108791560B (en) * 2018-05-23 2020-12-29 哈尔滨理工大学 Teleoperation system capable of cooperatively regulating single-leg operation and body translation of multi-legged robot and control method
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