CN103770116A - Seventeen-degree humanoid robot - Google Patents
Seventeen-degree humanoid robot Download PDFInfo
- Publication number
- CN103770116A CN103770116A CN201410012905.0A CN201410012905A CN103770116A CN 103770116 A CN103770116 A CN 103770116A CN 201410012905 A CN201410012905 A CN 201410012905A CN 103770116 A CN103770116 A CN 103770116A
- Authority
- CN
- China
- Prior art keywords
- robot
- head
- freedom
- degree
- robots according
- 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.)
- Granted
Links
Images
Landscapes
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a seventeen-degree humanoid robot which comprises a head, a body and four limbs. The middle head has a degree, each hand part has three degrees, and each leg part has five degrees. The robot can complete a plurality of humanoid actions such as bowing, saluting, falling to the ground, standing up, tracking, walking, splitting, stretching arms, push-ups and following target movement. According to the robot, seventeen double-shaft steering engines are used, so that power transmission is stable, action coherent stability is good, when parts of the robot are designed, the characteristics of aluminum alloy materials are fully used, accessories needed by fixing are removed, self weight of the robot is further lowered, and the robot is stable. The robot is compact and exquisite in appearance, the human body proportion is imitated to the high degree, the structure is reasonable, weight is light, manufacturing is easy, dance actions are coordinated and lifelike, and stability is high. The robot can be used for practice teaching and is also suitable for some robot competitions.
Description
Technical field
The invention belongs to Robotics, technical field of automation, refer to especially a kind of anthropomorphic robot of ten seven freedoms.
Background technology
Anthropomorphic robot is the peak in Robotics, and it can replace the mankind to go various work in the working environment of high-risk, high temperature; Aspect guide's ceremony, amusement park singing, performance, speech exchange service trade, having broad application prospects; Also can extensive use and the medical care of the elderly, disabled person's daily life, rehabilitation training and hospital nurse medium aspect.Anthropomorphic robot is the many-degrees of freedom system of rare high-order in engineering, non-linear, nonholonomic constraint, its mechanical construction and control system relative complex.To the research of anthropomorphic robot, the crossing research that can be summarized as the multidisciplinary fields such as frame for movement to robot, mechanics, robot kinematics, dynamics, vision, speech recognition, gravitational equilibrium control, gait planning, control theory is an ideal teaching, research experiments platform.
Current anthropomorphic robot is generally heavier, poor stability, and also costly.As an anthropomorphic robot that can imitate mankind's dancing, target can be independently followed in requirement, and guarantees stability, the reliability of robot in course of action and have certain fluency.
For making robot height apery, be in general that conventional method is to increase joint number; For making robot stabilized operation, need sensing system to form feedback regulation, increase robot weight simultaneously.But fall down in robot, unexpected power down or while breaking down, likely part of damage, mechanism or circuit is damaged.For fear of above-mentioned all inconvenience, generally can be to the additional too much fixing fitting of robot, cause that robot deadweight increases, cause its balance and stability decreases, thereby the fixing reliable and parts to robot are simplified lightly, bring certain difficulty, and then affect stability and fluency that robot motion is carried out.
Summary of the invention
For a series of shortcomings of above-mentioned robot, the object of the present invention is to provide a kind of frame for movement of the ten seven freedom anthropomorphic robots with biped structure, this structure is by 17 joints of servo driving, the center of gravity of robot is moved left and right, and then realize robot and advance, can also complete bows salutes, fall down to the ground stand up, the complicated dance movement such as a great hawk spreads its wings, split and push-up.
Realizing foregoing invention object technical scheme is a kind of ten seven freedom anthropomorphic robots, and a kind of ten seven freedom anthropomorphic robots, are made up of head, trunk and four limbs, it is characterized in that, described middle head has one degree of freedom, and each hand has three degree of freedom, and each shank has five frees degree.
Described head is made up of a servomotor, head shell packing and the camera that is fixed on top, and the hip joint of described shank and ankle-joint are installed and formed by two identical U-shaped and servomotor reverse vertical; And two chest servomotors and two waist servomotors inlay that described servomotor is installed is 180 degree steering wheels, there is steering wheel gear reduction, output shaft has corner locating.
Described trunk adopts two concave structures to coordinate and installs, and two shoulder servomotors and two waist servomotors are just vertically installed, and waist has a space mounting control panel, and trunk support mid portion space be able to placing battery.
Described waist, shoulder and ankle part all adopt U-shaped structure to connect.
Knee is the knee brace that is certain obtuse angle by a pair of, and nonrotational two steering wheels end is fixedly connected with and is formed.
Foot's steering wheel is horizontal placement, is fixed by aluminium alloy corner fittings, and direction of rotation and direction of advance are vertical relation.
Head, by adopting aluminium alloy that head servo motor is enclosed in wherein, divides proportionate relationship according to partes corporis humani, and anthropomorphic robot head outward appearance is made to apery shape, and this aluminium alloy device can effectively be protected head steering wheel.
Control system is fixed and waist gap place, and vision camera is arranged on head, is 0 ~ 90 degree when upright with robot, energy maximum magnitude captured target, and battery is fixed on gap, trunk middle part.
The width when distance on the inflection limit of arm frame is installed with steering wheel is identical.
Arm frame and steering wheel are fixed, and adopt the clamping on inflection limit, are screwed at installing hole place simultaneously.
The operation principle of 17 free degree anthropomorphic robots of the present invention:
The invention discloses a kind of anthropomorphic robot of 17 frees degree, basic structure is made up of head, trunk and four limbs, wherein trunk skeleton is coordinated and is assembled by female part and female bracket, and two chest servomotors and two waist servomotors are inlayed installation.The present invention is by the walking indication track in the camera collection external world, and after the processing of control system, driving joint steering wheel, orders about the center of gravity all around of robot and move, and is that robot entirety is along given track walking; Or camera collection color, the shape of object around, particular color, the given shape given with control system mate, if meet matching threshold, camera is followed target, orientation between simultaneous computer device people and target, driving joint steering wheel, makes robot follow target and moves.
17 free degree anthropomorphic robots of the present invention compared with prior art, have the following advantages:
Part of the present invention all adopts aluminium alloy to make, cheap, is easy to cutting and bending processing, and toughness and intensity all meet the motion requirement of toughness robot; The present invention is a large amount of uses U-shaped, makes simple, easy for installation; Hand of the present invention has three degree of freedom, and torso portion is coordinated and installed by a female part and female bracket, and whole anthropomorphic robot apparent size imitates human body proportion, and moulding is succinctly exquisite, can guarantee a series of actions coordination, stable, graceful.
The present invention can also, by the data of camera collection, after the processing of control system, can walk by tracking, or follow target and move.In frame for movement, reach optimization, succinctly, highly imitative human body proportion, cheap, good stability simultaneously, thereby more convenient robot learning person, carries out mechanical system analysis, mechanical analysis, trajectory planning to anthropomorphic robot, learn and grasp control system, the sensor-based system of robot, on this basis, robot learning person can also carry out various task operatings to anthropomorphic robot, as anthropomorphic robot dancing, anthropomorphic robot is competed for speed, anthropomorphic robot leaping over obstacles etc.
Accompanying drawing explanation
Fig. 1 is the anthropomorphic robot overall structure schematic diagram of the present invention's ten seven freedoms;
Fig. 2 is the structure schematic diagram of the knee connector of the anthropomorphic robot of the present invention's ten seven freedoms;
Fig. 3 is the structure schematic diagram of the female part of the anthropomorphic robot of the present invention's ten seven freedoms;
Fig. 4 is the structure schematic diagram of the female bracket of the anthropomorphic robot of the present invention's ten seven freedoms;
Fig. 5 is the structure schematic diagram of the arm support of the anthropomorphic robot of the present invention's ten seven freedoms.
By reference to the accompanying drawings described one 17 free degree anthropomorphic robots to be further illustrated below.
the specific embodiment one
Be illustrated in figure 1 a kind of 17 free degree anthropomorphic robots disclosed by the invention, a kind of ten seven freedom anthropomorphic robots of this system, are made up of head, trunk and four limbs, and described middle head has one degree of freedom, each hand has three degree of freedom, and each shank has five frees degree; A kind of ten seven freedom anthropomorphic robots, a kind of ten seven freedom anthropomorphic robots, are made up of head, trunk and four limbs, and the camera 1 of described head by a servomotor, head dummy parts 2 and above being fixed on forms; Described trunk skeleton coordinates installation by female part 20 and female bracket 21, two chest servomotors 13 of middle installation, two shoulder servomotors 4 are installed in both sides, two waist servomotors 14 are installed below, the centre of 15, two chest servomotors 13 of middle installation control system of two waist servomotors 14 is provided with battery 3.
The hip joint of described shank and ankle arthrosis 12 are installed and are formed by two identical U-shaped and servomotor reverse vertical; Described servomotor is 180 degree steering wheels, has steering wheel gear reduction, and output shaft has corner locating.
Waist, shoulder and ankle part all adopt U-shaped part to connect.
Knee is by a pair of knee brace 10 in obtuse angle, sees Fig. 2, and nonrotational two steering wheels end is fixedly connected with and is formed.
Fig. 3 and Fig. 4 divide the another structural representation for female part 20 and female bracket 21.
Foot's steering wheel is horizontal placement, is fixed by aluminium alloy corner fittings, and direction of rotation and direction of advance are vertical relation.
Head, by adopting aluminium alloy that head servo motor is enclosed in wherein, divides proportionate relationship according to partes corporis humani, and anthropomorphic robot head outward appearance is made to apery shape, and this aluminium alloy device can effectively be protected head steering wheel.
Fig. 5 is the structure schematic diagram of the arm support 7 of the anthropomorphic robot of the present invention's ten seven freedoms, the width when distance on the inflection limit of arm support is installed with steering wheel is identical, arm support and steering wheel are fixed, and adopt the clamping on inflection limit, are screwed at installing hole place simultaneously.
The output shaft steering wheel of the servomotor at shoulder of the present invention, waist, ankle position, fixes by the U-shaped part of same size.
U-shaped part of the present invention takes the shape of the letter U, blind end can be fixed with other U-shaped parts, also can fix by screw and servomotor output shaft steering wheel, and open end can be fixed by screw with twin shaft servomotor, very easy to use, its size is to design with reference to the size of servomotor.
Head of the present invention is driven by a servomotor and rotates, and designs external packing aluminum alloy casing, the camera group that can effectively protect robot head to install according to apery feature.Camera installation direction is vertical with the direction of the standing upright of anthropomorphic robot, namely, parallel with ground direction; The effective shooting angle scope of camera of the present invention is: the vertical line of robot head is benchmark, in each 45 degree in upper and lower, left and right.
On arm support 7 of the present invention, fix servomotor, the movable axis of servomotor is connected with connector, realizes brandishing up and down of anthropomorphic robot forearm 6; U-shaped connector connects the inertia end of the servomotor of large arm 5, forms anthropomorphic robot elbow joint, realizes the up and down of anthropomorphic robot ancon; The movable end of the servomotor on large arm, fixes by the open end of screw and U-shaped part, realizes the up and down of the large arm of anthropomorphic robot; The closing end of the U-shaped part being connected with large arm, fixes with chest servomotor output shaft, and the arm of realizing anthropomorphic robot rotates; When anthropomorphic robot shoulder rotates, do not interfere with trunk support; The movable axis of waist servomotor 14 is connected with U-shaped part 8, has formed the shank hip joint of anthropomorphic robot; The thigh of anthropomorphic robot adopts two U-shaped part reverse vertical to install, the inertia end of huckle servomotor 9 is linked and is formed by knee connector 10 with the inertia end of calf servomotor 16, and shank servomotor 16 is connected by connector 11 with foot servomotor 17.
The humanoid foot structure of the present invention is narrow sufficient structure, and foot's servomotor 17 is fixed therein one two reverse fixing U-shaped part open ends, advances with moving up and down to realize by the left and right of center of gravity; Base plate adopts rectangular aluminium alloy plate, with angled piece 18, servomotor and base plate 19 is fixed.
Adopt the identical similar structure of the above embodiment of the present invention, the ten seven freedom anthropomorphic robots that obtain, all within protection domain of the present invention.
Embodiment in the present invention, only for the present invention will be described, does not form the restriction to claim scope, and other substantial substituting of being equal to that those skilled in that art can expect, all in protection domain of the present invention.
Claims (10)
1. ten seven freedom anthropomorphic robots, are made up of head, trunk and four limbs, it is characterized in that, described middle head has one degree of freedom, and each hand has three degree of freedom, and each shank has five frees degree.
2. ten seven freedom anthropomorphic robots according to claim 1, it is characterized in that: described head is made up of a servomotor, head shell packing and the camera that is fixed on top, the hip joint of described shank and ankle-joint are installed and are formed by two identical U-shaped and servomotor reverse vertical; And two chest servomotors and two waist servomotors inlay that described servomotor is installed is 180 degree steering wheels, there is steering wheel gear reduction, output shaft has corner locating.
3. ten seven freedom anthropomorphic robots according to claim 1, it is characterized in that: described trunk adopts two concave structures to coordinate and installs, two shoulder servomotors and two waist servomotors are just vertically installed, waist has a space mounting control panel, and trunk support mid portion space be able to placing battery.
4. ten seven freedom anthropomorphic robots according to claim 1, is characterized in that: waist, shoulder and ankle part all adopt U-shaped structure to connect.
5. ten seven freedom anthropomorphic robots according to claim 1, is characterized in that: knee is the knee brace that is certain obtuse angle by a pair of, and nonrotational two steering wheels end is fixedly connected with and is formed.
6. ten seven freedom anthropomorphic robots according to claim 1, is characterized in that: foot's steering wheel is horizontal placement, and fixed by aluminium alloy corner fittings, direction of rotation and direction of advance are vertical relation.
7. ten seven freedom anthropomorphic robots according to claim 1; it is characterized in that: head is by adopting aluminium alloy that head servo motor is enclosed in wherein; divide proportionate relationship according to partes corporis humani; anthropomorphic robot head outward appearance is made to apery shape, and this aluminium alloy device can effectively be protected head steering wheel.
8. ten seven freedom anthropomorphic robots according to claim 1, it is characterized in that: control system is fixed and waist gap place, and vision camera is arranged on head, when upright with robot, be 0 ~ 90 degree, energy maximum magnitude captured target, battery is fixed on gap, trunk middle part.
9. ten seven freedom anthropomorphic robots according to claim 1, is characterized in that: the width when distance on the inflection limit of arm frame is installed with steering wheel is identical.
10. ten seven freedom anthropomorphic robots according to claim 1, is characterized in that: arm frame and steering wheel are fixed, and adopt the clamping on inflection limit, are screwed at installing hole place simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410012905.0A CN103770116B (en) | 2014-01-13 | 2014-01-13 | A kind of ten seven freedom anthropomorphic robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410012905.0A CN103770116B (en) | 2014-01-13 | 2014-01-13 | A kind of ten seven freedom anthropomorphic robots |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103770116A true CN103770116A (en) | 2014-05-07 |
| CN103770116B CN103770116B (en) | 2016-08-17 |
Family
ID=50563117
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410012905.0A Expired - Fee Related CN103770116B (en) | 2014-01-13 | 2014-01-13 | A kind of ten seven freedom anthropomorphic robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103770116B (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950888A (en) * | 2015-06-19 | 2015-09-30 | 武汉理工大学 | 17 degree of freedom humanoid robot and control method thereof |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN105583856A (en) * | 2016-01-28 | 2016-05-18 | 苏州大学 | Tested humanoid robot |
| CN106272474A (en) * | 2016-09-27 | 2017-01-04 | 成都普诺思博科技有限公司 | A kind of robot trunk structure |
| CN107874980A (en) * | 2017-12-05 | 2018-04-06 | 杜志刚 | Recovery exercising robot |
| CN109015748A (en) * | 2018-07-26 | 2018-12-18 | 华南理工大学 | A kind of 360 degree rotation mechanical arm applied to guide robot |
| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
| CN109927044A (en) * | 2019-02-20 | 2019-06-25 | 浙江机电职业技术学院 | A kind of application method of articulated robot and its information identifying processing |
| CN110032192A (en) * | 2019-04-28 | 2019-07-19 | 中北大学 | A kind of apery type is quickly walked tracking avoidance robot |
| CN110466643A (en) * | 2019-08-01 | 2019-11-19 | 电子科技大学 | A kind of penguin bio-robot and traveling method |
| CN110711393A (en) * | 2019-11-01 | 2020-01-21 | 奥飞娱乐股份有限公司 | Remote control toy and system |
| CN110743175A (en) * | 2015-10-22 | 2020-02-04 | 万代股份有限公司 | Joint structure of human body |
| CN110896291A (en) * | 2018-09-12 | 2020-03-20 | 钟川 | Robot adopting motor cascade control system |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001150371A (en) * | 1999-09-07 | 2001-06-05 | Sony Corp | Robot and revolute joint device for robot |
| CN1465042A (en) * | 2001-05-02 | 2003-12-31 | 索尼公司 | Obot device, character recognizing apparatus and character reading method, and control program and recording medium |
| US20050151496A1 (en) * | 2002-02-18 | 2005-07-14 | Takayuki Furuta | Two-leg walking humanoid robot |
| CN101116970A (en) * | 2007-08-24 | 2008-02-06 | 清华大学 | Anthropomorphic robot in series connection |
| JP2010064242A (en) * | 2008-09-11 | 2010-03-25 | Samsung Electronics Co Ltd | Robot hand and human type robot equipped with robot hand |
| CN202376753U (en) * | 2011-09-30 | 2012-08-15 | 西北农林科技大学 | Ten-freedom-degree gymnastic robot |
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN203019374U (en) * | 2013-01-16 | 2013-06-26 | 上海太敬投资有限公司 | Novel human-simulated intelligent robot |
| CN203047412U (en) * | 2013-02-07 | 2013-07-10 | 武汉大学 | Human-shaped dancing robot controlled in long-distance voice mode |
| CN203993890U (en) * | 2014-01-13 | 2014-12-10 | 西北农林科技大学 | A kind of ten seven freedom anthropomorphic robots |
-
2014
- 2014-01-13 CN CN201410012905.0A patent/CN103770116B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001150371A (en) * | 1999-09-07 | 2001-06-05 | Sony Corp | Robot and revolute joint device for robot |
| CN1465042A (en) * | 2001-05-02 | 2003-12-31 | 索尼公司 | Obot device, character recognizing apparatus and character reading method, and control program and recording medium |
| US20050151496A1 (en) * | 2002-02-18 | 2005-07-14 | Takayuki Furuta | Two-leg walking humanoid robot |
| CN101116970A (en) * | 2007-08-24 | 2008-02-06 | 清华大学 | Anthropomorphic robot in series connection |
| JP2010064242A (en) * | 2008-09-11 | 2010-03-25 | Samsung Electronics Co Ltd | Robot hand and human type robot equipped with robot hand |
| CN202376753U (en) * | 2011-09-30 | 2012-08-15 | 西北农林科技大学 | Ten-freedom-degree gymnastic robot |
| CN102975784A (en) * | 2012-11-13 | 2013-03-20 | 王斌 | Novel humanoid speed racing robot |
| CN203019374U (en) * | 2013-01-16 | 2013-06-26 | 上海太敬投资有限公司 | Novel human-simulated intelligent robot |
| CN203047412U (en) * | 2013-02-07 | 2013-07-10 | 武汉大学 | Human-shaped dancing robot controlled in long-distance voice mode |
| CN203993890U (en) * | 2014-01-13 | 2014-12-10 | 西北农林科技大学 | A kind of ten seven freedom anthropomorphic robots |
Non-Patent Citations (1)
| Title |
|---|
| 张博: "小型双足人形机器人机构设计与步态规划", 《中国优秀硕士学位论文全文数据库 信息科技辑》, 15 December 2006 (2006-12-15), pages 140 - 308 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104950888A (en) * | 2015-06-19 | 2015-09-30 | 武汉理工大学 | 17 degree of freedom humanoid robot and control method thereof |
| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| WO2017049915A1 (en) * | 2015-09-22 | 2017-03-30 | 厦门匠客信息科技有限公司 | Robot and control method therefor |
| CN110743175B (en) * | 2015-10-22 | 2021-11-30 | 万代股份有限公司 | Joint structure of human body |
| CN110743175A (en) * | 2015-10-22 | 2020-02-04 | 万代股份有限公司 | Joint structure of human body |
| CN105583856B (en) * | 2016-01-28 | 2019-01-01 | 苏州大学 | Tested humanoid robot |
| CN105583856A (en) * | 2016-01-28 | 2016-05-18 | 苏州大学 | Tested humanoid robot |
| CN106272474A (en) * | 2016-09-27 | 2017-01-04 | 成都普诺思博科技有限公司 | A kind of robot trunk structure |
| CN107874980A (en) * | 2017-12-05 | 2018-04-06 | 杜志刚 | Recovery exercising robot |
| CN109015748A (en) * | 2018-07-26 | 2018-12-18 | 华南理工大学 | A kind of 360 degree rotation mechanical arm applied to guide robot |
| CN109015696A (en) * | 2018-09-10 | 2018-12-18 | 广东宏穗晶科技服务有限公司 | A kind of stage performance robot |
| CN110896291B (en) * | 2018-09-12 | 2021-05-11 | 钟川 | Robot adopting motor cascade control system |
| CN110896291A (en) * | 2018-09-12 | 2020-03-20 | 钟川 | Robot adopting motor cascade control system |
| CN109927044A (en) * | 2019-02-20 | 2019-06-25 | 浙江机电职业技术学院 | A kind of application method of articulated robot and its information identifying processing |
| CN110032192A (en) * | 2019-04-28 | 2019-07-19 | 中北大学 | A kind of apery type is quickly walked tracking avoidance robot |
| CN110466643A (en) * | 2019-08-01 | 2019-11-19 | 电子科技大学 | A kind of penguin bio-robot and traveling method |
| CN110466643B (en) * | 2019-08-01 | 2021-10-22 | 电子科技大学 | Penguin bionic robot and walking method |
| CN110711393A (en) * | 2019-11-01 | 2020-01-21 | 奥飞娱乐股份有限公司 | Remote control toy and system |
| CN110711393B (en) * | 2019-11-01 | 2021-11-09 | 奥飞娱乐股份有限公司 | Remote control toy and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103770116B (en) | 2016-08-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203993890U (en) | A kind of ten seven freedom anthropomorphic robots | |
| CN103770116A (en) | Seventeen-degree humanoid robot | |
| JP5991857B2 (en) | Robot balance control apparatus and control method thereof | |
| Ott et al. | Development of a biped robot with torque controlled joints | |
| Vanderborght | Dynamic stabilisation of the biped Lucy powered by actuators with controllable stiffness | |
| Mao et al. | Transition from mechanical arm to human arm with CAREX: A cable driven ARm EXoskeleton (CAREX) for neural rehabilitation | |
| Aphiratsakun et al. | ZMP based gait generation of AIT's Leg Exoskeleton | |
| Jianhua | Design and kinematic simulation for Six-DOF leg mechanism of hexapod robot | |
| Miranda-Linares et al. | Control of lower limb exoskeleton for elderly assistance on basic mobility tasks | |
| Li et al. | Stable jump control for the wheel-legged robot based on TMS-DIP model | |
| CN102541068A (en) | Lower limb motion planning system for biped robot in obstacle crossing | |
| CN206123679U (en) | Humanoid robot is out of shape to high trafficability characteristic | |
| Haq et al. | Effects of knee locking and passive joint stiffness on energy consumption of a seven-link planar biped | |
| Gan et al. | Development of a exoskeleton robot for lower limb rehabilitation | |
| Aftab et al. | Simulating a wearable lower-body exoskeleton device for torque and power estimation | |
| Aftab et al. | Modeling and simulation of a lower-body wearable exoskeleton using robotics’ techniques | |
| Huang et al. | Design of a compliant joint actuator for lower-limb exoskeleton robot | |
| Babič et al. | Optimization of biarticular gastrocnemius muscle in humanoid jumping robot simulation | |
| Sun et al. | Development of dual-arm lower limb rehabilitation robot for hemiplegic patients | |
| Zheng et al. | Kinematic characteristics analysis of wearable lower limb rehabilitation exoskeleton robot based on Adams | |
| CN205870565U (en) | Robot control system is felt to long -range body based on kinect | |
| Wong et al. | Upper extremity load reduction for lower limb exoskeleton trajectory generation using ankle torque minimization | |
| Xinxing et al. | Simulation and experiment of legs-stride forward and overcoming obstacle gait of walking robot based on double 6-UPU parallel mechanism. | |
| Peng et al. | Modeling and gait generation of powered lower exoskeleton robot | |
| Slavnic et al. | Concept of a mobile robot-assisted gait rehabilitation system—Simulation study |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160817 Termination date: 20170113 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |