CN103203748A - Exoskeleton robot controlling system and method - Google Patents
Exoskeleton robot controlling system and method Download PDFInfo
- Publication number
- CN103203748A CN103203748A CN2013101197281A CN201310119728A CN103203748A CN 103203748 A CN103203748 A CN 103203748A CN 2013101197281 A CN2013101197281 A CN 2013101197281A CN 201310119728 A CN201310119728 A CN 201310119728A CN 103203748 A CN103203748 A CN 103203748A
- Authority
- CN
- China
- Prior art keywords
- data
- request
- controller
- actuator
- node
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Abstract
The invention relates to a controlling system, in particular to an exoskeleton robot controlling system and method. The exoskeleton robot controlling system comprises a main controller and at least one node unit, each of the node units comprises a node controller, a sensor and an actuator, and the sensors and the actuators are connected with the corresponding node controllers which are connected with the main controller. By reducing coupling between the main controller and other parts, the exoskeleton robot controlling system has the advantages that stability and reliability of the system are improved, structure is clearer and distinct in levels, and realization of machine code is facilitated.
Description
Technical field
The present invention relates to a kind of control system, relate in particular to a kind of exoskeleton robot control system and control method.
Background technology
Exoskeleton robot is a kind of man-machine integration intelligent machine device that can allow the people dress, it organically combines the mankind's intelligence and " muscle power " of robot, the locomitivity at expansion some position of human body (for example lower limb), strengthen the limb function of human body, military field and medical field are had very significant effects.In exoskeleton robot, frame for movement and control system are most important two parts, and wherein, the quality of control system directly has influence on the service behaviour of exoskeleton robot, are very important to ectoskeleton ROBOT CONTROL system therefore.
The structure of the control system of present existing exoskeleton robot is not to classify according to logical construction, and more be to go classification from the angle of module, the easy like this logic of control system that causes is relatively more chaotic, and the coupling of each several part increases, and especially is embodied on the master controller.Because the master controller of exoskeleton robot is basic and all modules have very strong coupling, workload is bigger, and generally be directly used in the control actuator, in case certain module goes wrong in the system, can directly have influence on the operation of master controller, thereby cause the The whole control system collapse, so stability and reliability are good inadequately.
Summary of the invention
(1) technical problem that will solve
The purpose of this invention is to provide a kind of exoskeleton robot control system and control method based on Node Controller, to reduce the coupling of master controller and other parts.
(2) technical scheme
For solving the problems of the technologies described above, the invention provides a kind of exoskeleton robot control system, it comprises master controller, wherein, described control system also comprises at least one node unit, each described node unit comprises Node Controller and the sensor and the actuator that are connected with described Node Controller respectively respectively, and described Node Controller is connected with described master controller.
Preferably, described Node Controller also is provided with the memory of real-time storage data.
Preferably, described master controller adopts to be arranged on based on the CAN EBI on the ARM Industry Control platform with Node Controller and is connected.
Preferably, described actuator comprises the executing agency that adopts motorized motions or hydraulic-driven or pneumatic actuation.
The present invention also provides a kind of exoskeleton robot control method, and it may further comprise the steps:
Step S1: system initialization;
Step S2: Node Controller detects whether receive the request of master controller, if receive request, then execution in step S3 if do not receive request, then returns step S2;
Step S3: the request of judging described master controller is data upload request or actuator control request, if actuator control request, execution in step S4-1 then is if data upload request, then execution in step S4-2;
Step S4-1: respond the control request of described actuator, described actuator is controlled;
Step S4-2: described Node Controller reads the data in the memory; Then described data upload is arrived described master controller, execution in step S5 then;
Step S5: after described master controller gathers, calculates the described data of uploading, send request.
Wherein, the generation of the data in the described memory may further comprise the steps:
Step 1: be connected the sensor senses data on the Node Controller;
Step 2: described Node Controller reads the data of described sensor;
Step 3: in the writing data into memory of described Node Controller with the sensor that reads.
Preferably, described step 1 and described step S2 carry out simultaneously.
Preferably, this control method comprised also that before step S2 operation is from the step of trace routine.
(3) beneficial effect
A kind of exoskeleton robot control system and control method that technique scheme provides, this control system comprises master controller and at least one node unit, each node unit comprises Node Controller and the sensor that is connected with Node Controller respectively and actuator, Node Controller directly is connected with master controller, sensor directly is not connected with master controller with actuator, reduce the coupling of master controller and other parts, thereby improved stability and the reliability of system; This control system is simple in structure clear, and is well arranged, is convenient to the realization of machine code; Further, adopt the memory of real-time storage data, can under Node Controller breaks down situation, still can return to fault state before.
Description of drawings
Fig. 1 is the structure chart according to a kind of exoskeleton robot control system of the present invention;
Fig. 2 is the schematic diagram according to a preferred embodiment of exoskeleton robot control system of the present invention;
Fig. 3 is the flow chart according to exoskeleton robot control method of the present invention.
Wherein: the 101-master controller; 201-left side hip Node Controller; 202-left side patella point control device; The right hip Node Controller of 203-; The right patella point control of 204-device; 205-back Node Controller; 301-left side hip joint actuator; 302-left side hip joint sensor; 303-left side knee joint actuator; 304-left side knee joint sensor; The right hip joint actuator of 305-; The right hip joint sensor of 306-; The right knee joint actuator of 307-; The right knee joint sensor of 308-; 309-back sensor.
The specific embodiment
Below in conjunction with drawings and Examples the specific embodiment of the present invention is described in further detail.
Fig. 1 illustrates the structure according to a kind of exoskeleton robot control system of the present invention, and this exoskeleton robot control system is applicable to motor driving type, type hydraulic actuator or pneumatic actuation type exoskeleton robot.This exoskeleton robot control system comprises master controller and at least one node unit, and each node unit comprises Node Controller and the sensor that is connected with Node Controller respectively and actuator respectively, and this Node Controller is connected with master controller respectively.This master controller is mainly used in the information of all node units of ectoskeleton is carried out aggregation process, calculating, with the joint control information of acquisition exoskeleton robot, and then sends the joint control instruction to corresponding Node Controller.Master controller adopts to be arranged on based on the CAN EBI on the ARM Industry Control platform with Node Controller and is connected.Certainly, those skilled in the art of the present technique it is contemplated that also other mode realizes.Node Controller is mainly used in reading and/or the joint of present node unit is controlled the sensing data of present node unit, and communicate with master controller, each node unit has ID number of a specific CAN, can make this exoskeleton robot finish corresponding work in an orderly manner like this.But sensor and the actuator parallel processing corresponding with sensor.Wherein, sensor is used for the needed data of perception, and actuator is used for carrying out the joint control instruction.And be disconnected between them.Because the master controller of this exoskeleton robot control system only is connected with Node Controller, and and be disconnected between sensor and the actuator, reduced the coupling of master controller and other parts, thereby improve stability and the reliability of system, and make the structure of control system more clear, well arranged, be convenient to the realization of machine code.
Preferably, all Node Controllers can have identical hardware configuration and software frame, make it have good versatility, therefore do not need to have shortened the construction cycle greatly for some particular joint or the independent controller of data reading system design.In addition, the quantity of Node Controller can increase according to the needs of exoskeleton system or reduce, and this can get final product by the node that correspondingly increases or reduce CAN on the master controller, therefore makes this structure more flexible, also is easy to safeguard.
Preferably, Node Controller also is provided with the memory of real-time storage data.Node Controller stores the data that read in the memory at any time, to guarantee after Node Controller breaks down, can return to fault state before by restarting, thereby improve the reliability of system.And in memory space predistribution the memory location of respective sensor, certain class sensor is namely stored in the corresponding address, distributed the sensor of address to comprise: attitude instrument sensor (directly obtains attitude information, as spatial attitude, relative angle etc.), single-axis acceleration sensors, foot force sensor, contact force sensor, temperature sensor and EMG sensor etc.
To be the structure that example specifies exoskeleton robot control system of the present invention with the exoskeleton robot that is used for lower limb below.
Fig. 2 is the schematic diagram according to a preferred embodiment of exoskeleton robot control system of the present invention.Wherein, the control system of this exoskeleton robot mainly comprises master controller 101, left hip node unit, right hip node unit, left patella dot element, right patella dot element and back node unit.
Left side hip node unit comprises left hip Node Controller 201, left hip joint actuator 301 and left hip joint sensor 302.Left side hip joint actuator 301 comprises harmonic speed reducer, actuating motor, motor driver and executing agency; Left side hip joint sensor 302 comprises attitude instrument sensor, single-axis acceleration sensors, contact force sensor.Can be obtained the details of left hip joint by the data of these sensor senses.The data of 201 pairs of left hip joint sensors 302 of left side hip Node Controller read, and under the control of master controller 101, with data upload to master controller 101,101 pairs of information of uploading of master controller are handled, are calculated then, to obtain the control information of left hip joint, and then sending the joint control instruction to corresponding Node Controller 201, the executing agency by the left hip joint actuator 301 of left hip Node Controller 201 controls carries out the joint control instruction that master controller 101 sends then.
Similarly, right hip node unit comprises right hip Node Controller 202, right hip joint actuator 305 and right hip joint sensor 306.Right hip node unit is according to the operation principle work identical with left hip node unit.
Left side patella dot element comprises left patella point control device 202, left knee joint actuator 303 and left knee joint sensor 304.Left side knee joint actuator 303 comprises harmonic speed reducer, actuating motor, motor driver and executing agency; Left side knee joint sensor 304 comprises attitude instrument sensor, single-axis acceleration sensors, contact force sensor, left foot foot force sensor.Data by these sensor senses can obtain left kneed details.The data of 202 pairs of left knee joint sensors 304 of left side patella point control device read, and under the control of master controller 101, with data upload to master controller 101,101 pairs of information of uploading of master controller are handled, are calculated then, to obtain left kneed control information, and then sending the joint control instruction to corresponding left patella point control device 202, the executing agency by the left knee joint actuator 303 of left patella point control device 202 controls carries out the joint control instruction that master controller 101 sends at last.
Similarly, right patella dot element comprises right patella point control device 204, right knee joint actuator 307 and right knee joint sensor 308.Right patella dot element is according to the operation principle work identical with left patella dot element.
As shown in Figure 2, the back node unit comprises back Node Controller 205 and back sensor 309.Back sensor 309 comprises single-axis acceleration sensors, attitude instrument sensor and temperature sensor.Wherein, single-axis acceleration sensors and attitude instrument sensor are used for reflection back movable information, and whether temperature sensor for detection of battery superheating phenomenon takes place.The data of 205 pairs of back sensor 309 perception of back Node Controller read, and under the control of master controller 101, with data upload to master controller 101, then, 101 pairs of information of uploading of master controller are handled, to obtain: or the control information of associated joint, or temperature information.If the control information of associated joint, 101 of master controllers send the joint control instruction to corresponding Node Controller, if temperature information, whether 101 definite batteries of master controller are overheated, then report to the police as overheated.
Certainly, it will be appreciated by those skilled in the art that the executing agency in the above-mentioned actuator can be motor-driven executing agency, also can be hydraulically powered executing agency, also can be the executing agency of pneumatic actuation.
The invention also discloses the control method of the exoskeleton robot control system that a kind of technique scheme provides, may further comprise the steps:
Step S1: system initialization, mainly joint control is carried out initialization, and by the motor driver initialization of Node Controller to actuator;
Step S2: detect whether to receive the request of master controller, if receive request, execution in step S3 then, the request of namely judging described master controller is data upload request or actuator control request.If actuator control request, execution in step S4-1 then is if data upload request, then execution in step S4-2; If do not receive request, then return step S2;
Step S4-1: the control request of response actuator, actuator is controlled;
Step S4-2: Node Controller reads the data in the memory; Upload the data to master controller then, then execution in step S5;
Step S5: after described master controller gathers, calculates the described data of uploading, send request.
Particularly, the generation of the data in the above-mentioned memory may further comprise the steps:
Step 1: be connected the sensor senses data on the Node Controller;
Step 2: described Node Controller reads the data of described sensor;
Step 3: in the writing data into memory of described Node Controller with the sensor that reads.
Further, step 1 and step S2 carry out simultaneously.That is, when whether the enforcement detection received the request of master controller, sensor is perception data in real time, in order to guarantee that the data that Node Controller reads are up-to-date data, as shown in Figure 3.
Further, before step S2, this control method can comprise that operation is from the step of trace routine.That is, detect whether be mounted with corresponding sensor, if transship, then enable reading described sensing data; If carry not, then anergy is to the reading of described sensing data, as shown in Figure 3.
Above implementation method only is used for explanation the present invention, and is not limitation of the present invention, and the those of ordinary skill in relevant technologies field under the situation that does not break away from the spirit and scope of the present invention, can also make a variety of changes and modification.Therefore all technical schemes that are equal to also belong to protection category of the present invention.
Claims (8)
1. exoskeleton robot control system, it comprises master controller, it is characterized in that, described control system also comprises at least one node unit, each described node unit comprises Node Controller and the sensor and the actuator that are connected with described Node Controller respectively respectively, and described Node Controller is connected with described master controller.
2. exoskeleton robot control system according to claim 1 is characterized in that, described Node Controller also is provided with the memory of real-time storage data.
3. exoskeleton robot control system according to claim 1 is characterized in that, described master controller adopts to be arranged on based on the CAN EBI on the ARM Industry Control platform with Node Controller and is connected.
4. according to each described exoskeleton robot control system in the claim 1 to 3, it is characterized in that described actuator comprises the executing agency that adopts motorized motions or hydraulic-driven or pneumatic actuation.
5. exoskeleton robot control method is characterized in that it may further comprise the steps:
Step S1: system initialization;
Step S2: Node Controller detects whether receive the request of master controller, if receive request, then execution in step S3 if do not receive request, then returns step S2;
Step S3: the request of judging described master controller is data upload request or actuator control request, if actuator control request, execution in step S4-1 then is if data upload request, then execution in step S4-2;
Step S4-1: respond the control request of described actuator, described actuator is controlled;
Step S4-2: described Node Controller reads the data in the memory, then described data upload is arrived described master controller, execution in step S5 then;
Step S5: after described master controller gathers, calculates the described data of uploading, send request.
6. control method according to claim 5 is characterized in that, the generation of data may further comprise the steps in the described memory:
Step 1: be connected the sensor senses data on the Node Controller;
Step 2: described Node Controller reads the data of described sensor;
Step 3: in the writing data into memory of described Node Controller with the sensor that reads.
7. control method according to claim 6 is characterized in that, described step 1 and described step S2 carry out simultaneously.
8. control method according to claim 5 is characterized in that, it comprised also that before step S2 operation is from the step of trace routine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101197281A CN103203748A (en) | 2013-04-08 | 2013-04-08 | Exoskeleton robot controlling system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013101197281A CN103203748A (en) | 2013-04-08 | 2013-04-08 | Exoskeleton robot controlling system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103203748A true CN103203748A (en) | 2013-07-17 |
Family
ID=48751258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013101197281A Pending CN103203748A (en) | 2013-04-08 | 2013-04-08 | Exoskeleton robot controlling system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103203748A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103622792A (en) * | 2013-11-25 | 2014-03-12 | 北京林业大学 | Information collecting and controlling system of external skeleton assist robot |
| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
| CN104013513A (en) * | 2014-06-05 | 2014-09-03 | 电子科技大学 | Rehabilitation robot sensing system and method |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN105138030A (en) * | 2015-06-25 | 2015-12-09 | 电子科技大学 | Distributed hydraulic control system for lower-limb exoskeleton |
| CN105147298A (en) * | 2015-10-16 | 2015-12-16 | 北京机械设备研究所 | Exoskeleton state detecting method |
| CN106041929A (en) * | 2016-06-24 | 2016-10-26 | 南京工程学院 | Control method used for six-freedom-degree robot |
| CN106707744A (en) * | 2016-10-31 | 2017-05-24 | 江苏华航威泰机器人科技有限公司 | 5-connecting-rod exoskeleton robot squat and rise process stability control method |
| WO2018000854A1 (en) * | 2016-06-29 | 2018-01-04 | 深圳光启合众科技有限公司 | Human upper limb motion intention recognition and assistance method and device |
| CN107943021A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of adaptive stair activity control system and method |
| CN108068112A (en) * | 2017-11-02 | 2018-05-25 | 中车工业研究院有限公司 | A kind of device, implementation method and the processing method of same station workpieces processing |
| CN110200786A (en) * | 2019-07-12 | 2019-09-06 | 山东海天智能工程有限公司 | A kind of lower limbs rehabilitation training robot and method |
| CN111267071A (en) * | 2020-02-14 | 2020-06-12 | 上海航天控制技术研究所 | Multi-joint combined control system and method for exoskeleton robot |
| CN112451319A (en) * | 2020-11-24 | 2021-03-09 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN112571401A (en) * | 2019-09-28 | 2021-03-30 | 深圳市迈步机器人科技有限公司 | Power exoskeleton |
| CN114193511A (en) * | 2021-12-06 | 2022-03-18 | 电子科技大学 | IMU-based lower limb exoskeleton support domain measurement method |
| WO2022095415A1 (en) * | 2020-11-04 | 2022-05-12 | 华为技术有限公司 | Autonomous driving system and vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053954A (en) * | 2007-04-29 | 2007-10-17 | 东北大学 | Control system for modular robot based on CAN bus |
| CN101592951A (en) * | 2009-07-02 | 2009-12-02 | 上海交通大学 | Common distributed control system for humanoid robot |
| US20090312868A1 (en) * | 2008-06-11 | 2009-12-17 | Tsuyoshi Tojo | Manipulator and manipulator posture control method |
| CN101791255A (en) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | Walk-aiding exoskeleton robot system and control method |
| WO2010115444A1 (en) * | 2009-04-11 | 2010-10-14 | Abb Ag | Robot system |
| CN202257212U (en) * | 2011-08-18 | 2012-05-30 | 广东工业大学 | Humanoid robot control system |
| CN102785250A (en) * | 2012-08-23 | 2012-11-21 | 中国科学院自动化研究所 | Motion controller of four-leg robot |
-
2013
- 2013-04-08 CN CN2013101197281A patent/CN103203748A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101053954A (en) * | 2007-04-29 | 2007-10-17 | 东北大学 | Control system for modular robot based on CAN bus |
| US20090312868A1 (en) * | 2008-06-11 | 2009-12-17 | Tsuyoshi Tojo | Manipulator and manipulator posture control method |
| WO2010115444A1 (en) * | 2009-04-11 | 2010-10-14 | Abb Ag | Robot system |
| CN101592951A (en) * | 2009-07-02 | 2009-12-02 | 上海交通大学 | Common distributed control system for humanoid robot |
| CN101791255A (en) * | 2010-03-08 | 2010-08-04 | 上海交通大学 | Walk-aiding exoskeleton robot system and control method |
| CN202257212U (en) * | 2011-08-18 | 2012-05-30 | 广东工业大学 | Humanoid robot control system |
| CN102785250A (en) * | 2012-08-23 | 2012-11-21 | 中国科学院自动化研究所 | Motion controller of four-leg robot |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103622792A (en) * | 2013-11-25 | 2014-03-12 | 北京林业大学 | Information collecting and controlling system of external skeleton assist robot |
| CN103786157A (en) * | 2014-01-20 | 2014-05-14 | 浙江大学 | Embedded type control system based on upper limb exoskeleton assisting robots |
| CN104013513A (en) * | 2014-06-05 | 2014-09-03 | 电子科技大学 | Rehabilitation robot sensing system and method |
| CN104013513B (en) * | 2014-06-05 | 2016-08-17 | 电子科技大学 | Healing robot sensory perceptual system and method thereof |
| CN104434470A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Lower extremity exoskeleton robot for assisting in walking |
| CN105138030A (en) * | 2015-06-25 | 2015-12-09 | 电子科技大学 | Distributed hydraulic control system for lower-limb exoskeleton |
| CN105138030B (en) * | 2015-06-25 | 2018-10-23 | 电子科技大学 | A kind of distributed hydraulic control system for lower limb exoskeleton |
| CN105147298A (en) * | 2015-10-16 | 2015-12-16 | 北京机械设备研究所 | Exoskeleton state detecting method |
| CN106041929B (en) * | 2016-06-24 | 2018-03-30 | 南京工程学院 | A kind of control method for six-DOF robot |
| CN106041929A (en) * | 2016-06-24 | 2016-10-26 | 南京工程学院 | Control method used for six-freedom-degree robot |
| WO2018000854A1 (en) * | 2016-06-29 | 2018-01-04 | 深圳光启合众科技有限公司 | Human upper limb motion intention recognition and assistance method and device |
| CN106707744A (en) * | 2016-10-31 | 2017-05-24 | 江苏华航威泰机器人科技有限公司 | 5-connecting-rod exoskeleton robot squat and rise process stability control method |
| CN107943021B (en) * | 2017-10-19 | 2021-03-30 | 布法罗机器人科技（成都）有限公司 | Self-adaptive stair ascending and descending control system and method |
| CN107943021A (en) * | 2017-10-19 | 2018-04-20 | 布法罗机器人科技（成都）有限公司 | A kind of adaptive stair activity control system and method |
| CN108068112A (en) * | 2017-11-02 | 2018-05-25 | 中车工业研究院有限公司 | A kind of device, implementation method and the processing method of same station workpieces processing |
| CN110200786A (en) * | 2019-07-12 | 2019-09-06 | 山东海天智能工程有限公司 | A kind of lower limbs rehabilitation training robot and method |
| CN112571401A (en) * | 2019-09-28 | 2021-03-30 | 深圳市迈步机器人科技有限公司 | Power exoskeleton |
| CN112571401B (en) * | 2019-09-28 | 2024-02-23 | 深圳市迈步机器人科技有限公司 | Power exoskeleton |
| CN111267071A (en) * | 2020-02-14 | 2020-06-12 | 上海航天控制技术研究所 | Multi-joint combined control system and method for exoskeleton robot |
| WO2022095415A1 (en) * | 2020-11-04 | 2022-05-12 | 华为技术有限公司 | Autonomous driving system and vehicle |
| CN112451319A (en) * | 2020-11-24 | 2021-03-09 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN112451319B (en) * | 2020-11-24 | 2023-03-14 | 布法罗机器人科技（成都）有限公司 | Exoskeleton joint system for assisting walking |
| CN114193511A (en) * | 2021-12-06 | 2022-03-18 | 电子科技大学 | IMU-based lower limb exoskeleton support domain measurement method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103203748A (en) | Exoskeleton robot controlling system and method | |
| CN102085664B (en) | Autonomous operation forestry robot intelligent control system | |
| CN106985141B (en) | Double-arm cooperative robot | |
| US9242372B2 (en) | Adaptive robotic interface apparatus and methods | |
| CN104690726B (en) | A kind of space manipulator kinetic control system | |
| CN104589367B (en) | Modularization robot driver based on EtherCAT and control method | |
| CN101673116B (en) | Precise resetting system of humanoid robot initial position | |
| CN102785250A (en) | Motion controller of four-leg robot | |
| CN202878325U (en) | Small modularization mechanical arm | |
| CN103192389B (en) | A kind of exoskeleton robot control system and method | |
| CN107943623A (en) | A kind of storage system | |
| CN103064368A (en) | Redundant controller of Profibus-decentralized periphery (DP) | |
| CN102853831A (en) | Legged robot state sensing system based on dual core processing technology | |
| CN209289290U (en) | Light-duty mechanical arm control system based on CANopen | |
| CN103543677B (en) | A kind of implementation method of back to zero control system of the robot that makes up a prescription | |
| CN203306138U (en) | Quasi-man biped robot based on hydraulic system | |
| CN105807761A (en) | Control system of bionic intelligent robotic fish | |
| CN102126220A (en) | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus | |
| CN203171618U (en) | Modularized robot | |
| CN107861421B (en) | Dual-redundancy control device and method based on distributed system master-slave rotation type | |
| CN110254554A (en) | A kind of the elderly's care robot | |
| CN105680371A (en) | Control system of line patrol robot of power transmission line | |
| CN204926654U (en) | Shape -shifting robot for teaching | |
| CN111380527A (en) | Navigation method and navigation controller of indoor service robot | |
| CN114237271A (en) | Method for falling, rising and synchronous action of group dance 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 | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130717 |