CN104354784B - A kind of biped robot of quick walk - Google Patents
A kind of biped robot of quick walk Download PDFInfo
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- CN104354784B CN104354784B CN201410551230.7A CN201410551230A CN104354784B CN 104354784 B CN104354784 B CN 104354784B CN 201410551230 A CN201410551230 A CN 201410551230A CN 104354784 B CN104354784 B CN 104354784B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The biped robot of a kind of quick walk of disclosure, this biped robot is made up of balance weight assembly, linear electric motors, motor shaft, motor cabinet, telescopic fixing rod, left connecting rod, right connecting rod, left thigh, right thigh, left leg, right leg, anticlockwise cylinder and right rotation cylinder.Linear electric motors make left and right connecting rod swing, thus driving the two thigh reciprocally swingings being hinged on motor cabinet；Left and right rotary cylinder drives left and right shank to swing according to the relative position between motor shaft and motor cabinet, leads leg so that the supporting leg of robot is longer than, it is achieved the walking of robot.Compared with the existing technology, the invention have the advantage that only drives two thighs to swing by linear electric motors simultaneously, it is simple to coordination exercise；Easy to control, control accuracy is high；Simple and compact for structure, good stability；Rapid movement can be realized, there is higher wheel efficiency；It is particularly suited for the occasion with fast and stable requirement.
Description
Technical field
The invention belongs to robotics, particularly the biped robot of a kind of quick walk.
Background technology
Current biped robot has evolved into the focus of a research, and different from rolling robot, biped robot is discontinuous with ground in motor process to be contacted, and in some cases, is suitable for the demand of environment in such as field.Biped robot has good environmental suitability, it is possible to replace the mankind to complete some loaded down with trivial details or dangerous work, for instance welding, assembling, household services, rescue and relief work, nuclear power station maintenance and planetary exploration etc., therefore has broad application prospects.
Growing along with science and technology, biped robot imitates human action and all achieves greater advance in people's communication etc., and what wherein have Typical Representative is the robots such as the NAO of the QRIO of Sony corporation of Japan, Alder barlan company of France.Chinese patent literature CN101121424A discloses a kind of multiple degrees of freedom double-foot robot lower limb mechanism, and this lower limb mechanism can realize anthropomorphic gait walking to the full extent, has that bearing capacity is big, compact conformation and an advantage such as feasibility is strong.Chinese patent literature CN101229826A discloses the lower limb structure of a kind of biped robot, all adopts back-to-back bi-motor Driven by Coaxial mode for each forward swing and side-sway degree of freedom so that mechanism is compact and reduces revolution gap.
Most of robots are all the type of drive adopting DC servo electric rotating machine to join harmonic speed reducer now.In general, each degree of freedom of robot is required for a DC servo motor and is driven, this makes control accuracy step-down, and add control difficulty, the topology layout of robot is proposed requirements at the higher level simultaneously, Design and Machining cost also becomes higher, and the wheel efficiency of existing major part biped robot is not high in addition.To sum up, at present major part biped robot all exists that control accuracy is on the low side, wheel efficiency is on the low side, stability is low, structure is complicated and the problem such as high expensive.
Summary of the invention
For solving the problems referred to above, the invention provides a kind of quick walk biped robot only driving thigh to swing by linear electric motors, this robot has good control accuracy, wheel efficiency height, good stability, simple in construction, be easy to processing installs and less costly, is suitable for the occasion of fast and stable motion.
For achieving the above object, the technical scheme is that
The biped robot of a kind of quick walk, including motor cabinet；Linear electric motors, these linear electric motors are fixed on described motor cabinet, and described linear electric motors also include through linear electric motors the motor shaft that is axially movable；Walking mechanism, this walking mechanism includes left thigh, left leg, right thigh and right leg, described left thigh is identical with right thigh structure, and be connected by revolute pair with the left and right sides of motor cabinet respectively, described left thigh and right thigh are symmetrical when vertical, described left leg and right leg are connected to left thigh and right thigh lower end respectively through revolute pair, described left leg is identical with right leg structure and is eccentric stiffener, is enough to change the bearing height of left thigh and right thigh in rotary course；Drive mechanism, this drive mechanism includes left connecting rod, right connecting rod and telescopic fixing rod, the middle part of described telescopic fixing rod is fixing with one end of motor shaft to be connected, the two ends of described telescopic fixing rod are rotatably connected with the end of left connecting rod and right connecting rod respectively, the other end of described left connecting rod and right connecting rod is hinged with left thigh and right thigh respectively, and the both sides up and down of described left connecting rod and the pin joint of left thigh and the right connecting rod revolute pair that in left thigh and right thigh with motor cabinet be connected arranged in a crossed manner with the pin joint of right thigh；Balance weight assembly, this balance weight assembly is fixedly installed on motor shaft away from one end of telescopic fixing rod.
Preferably, described left connecting rod, right connecting rod front end are provided with an axle, and rear end is provided with a hole；Described left thigh, right thigh are provided with four holes from top to bottom, the front end axle of left connecting rod is connected with first hole of left thigh with revolute pair, the front end axle of right connecting rod is connected with the 3rd hole of right thigh with revolute pair, and the left and right both sides of motor cabinet are connected with second hole revolute pair of left thigh, right thigh respectively.
Preferably, described left connecting rod, right connecting rod front end are provided with an axle, and rear end is provided with a hole；Described left thigh, right thigh are provided with four holes from top to bottom, the front end axle of left connecting rod is connected with the 3rd hole of left thigh with revolute pair, the front end axle of right connecting rod is connected with first hole of right thigh with revolute pair, and the left and right both sides of motor cabinet are connected with second hole revolute pair of left thigh, right thigh respectively.
Preferably, described left leg, right leg one end be equipped with a hole, corresponding be respectively articulated with on the 4th hole of left thigh, right thigh；Also include the anticlockwise cylinder for driving described left leg, right leg to rotate, right rotation cylinder, described anticlockwise cylinder, right rotation cylinder respectively with left thigh, right thigh be connected, and the axle on anticlockwise cylinder, right rotation cylinder be respectively fixedly connected with left leg, right leg hole in.
Preferably, described balance weight assembly farther includes counter-balanced carriage, weight bolt and balancing weight, being symmetrically installed with weight bolt on described counter-balanced carriage, each weight bolt is configured with one or more balancing weight, the centre position of counter-balanced carriage is fixing with one end of motor shaft to be connected.Can be balanced regulating to biped robot by the weight of adjustment balancing weight.
Preferably, described left leg, right leg are two ends is the middle runway shape for rectangle of semi arch, and the aperture arranged in its one end is concentric with the semi arch of homonymy.Anticlockwise cylinder, right rotation cylinder are respectively fixedly connected with on left thigh, right thigh, and the axle on anticlockwise cylinder, right rotation cylinder is socketed in the 4th hole on left thigh, right thigh respectively, left leg, right leg is driven to swing respectively by the axle on anticlockwise cylinder, right rotation cylinder.
Preferably, the axis of two revolute pairs that described left connecting rod and left thigh, telescopic fixing rod are formed, and right connecting rod is all parallel with the axis of two revolute pairs that right thigh, telescopic fixing rod are formed.The line at the second Ge Kong center of the axis of described motor shaft and left thigh and right thigh in the same plane in.Therefore, when motor shaft seesaws, it is possible to use crank block principle drives left connecting rod, left thigh a plane motion, and right connecting rod, right thigh are a plane motion.
Preferably, described left connecting rod is consistent with right connecting rod shape, and left thigh is consistent with right thigh shape, and left leg is consistent with right leg shape.Biped robot's the right and left structure, shape are similar, add left-right balance degree.
Preferably, the pitch of holes in first hole of described left thigh or right thigh and second hole is equal to the pitch of holes in tri-holes of second Kong Yu.So, when motor shaft seesaws, left thigh and symmetrical before and after right thigh swing, so that biped robot's fast and stable walking.
Compared with prior art, beneficial effects of the present invention is as follows:
(1) only can be driven the swing of two thighs by linear electric motors simultaneously, coordinate the rotation of the rotary cylinder being connected with thigh, shank, the driving of whole biped robot can be carried out, which greatly simplifies later stage motor and control and motion algorithm, it is easy to motor coordination, and control accuracy is high.
(2) robot is in the process of walking, by controlling the rotary cylinder of two lower limbs, the shank making supporting leg be constantly on the downside of rotary cylinder and with corresponding thigh conllinear, namely supporting leg is constantly in most long status, the shank led leg accordingly then carries out 360 degree of rotations around rotary cylinder, making the state of leading leg the shortest again to the longest from growing to most, therefore in whole walking process, robot supporting leg is above leading leg.
(3) the left and right thigh of robot, left and right shank, left and right connecting rod, telescopic fixing rod is flat bar structure, while effectively realizing respective function, it is ensured that the lightweight of leg.
(4) linear electric motors of biped robot are fixed on motor cabinet, and higher than leg structure, and leg structure is comparatively light, make robot center of gravity at motor cabinet place, improve the center of gravity of robot, so closer to the distribution of weight of people, decrease energy expenditure in the process of walking simultaneously.
(5) robot left and right thigh structure is identical, and left and right shank structure is identical, and left and right bar linkage structure is identical, and all structure members of robot are simple and mechanical body, conveniently carries out parametric adjustment, and processor is simple simultaneously, and cost is low.
(6) robot is overall basic in left and right symmetry, can effectively realize rapid movement by controlling motor, have higher wheel efficiency, simultaneously simple and compact for structure, it is simple to install.
Accompanying drawing explanation
Fig. 1 is the structural representation of the biped robot of a kind of quick walk of the embodiment of the present invention；
Fig. 2 is the weighted member structures schematic diagram of the biped robot of a kind of quick walk of the embodiment of the present invention；
Fig. 3 is the left bar linkage structure schematic diagram of the biped robot of a kind of quick walk of the embodiment of the present invention；
Fig. 4 is the left thigh structural representation of the biped robot of a kind of quick walk of the embodiment of the present invention；
Fig. 5 is the left leg structural representation of the biped robot of a kind of quick walk of the embodiment of the present invention.
Description of reference numerals: 1-counter-balanced carriage；2-weight bolt；3-balancing weight；4-motor shaft；5-linear electric motors；6-motor cabinet；The left connecting rod of 7-；8-left thigh；9-telescopic fixing rod；10-anticlockwise cylinder；11-left leg；12-right connecting rod；13-right thigh；14-right leg；15-right rotation cylinder.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.On the contrary, the present invention contains any replacement made in the spirit and scope of the present invention, amendment, equivalent method and scheme being defined by the claims.Further, in order to make the public that the present invention to be had a better understanding, in below the details of the present invention being described, detailed describe some specific detail sections.The description not having these detail sections for a person skilled in the art can also understand the present invention completely.
As shown in Figure 1, the biped robot of a kind of quick walk of the embodiment of the present invention, it includes balance weight assembly, motor shaft 4, linear electric motors 5, motor cabinet 6, left connecting rod 7, left thigh 8, telescopic fixing rod 9, anticlockwise cylinder 10, left leg 11, right connecting rod 12, right thigh 13, right leg 14 and right rotation cylinder 15.Linear electric motors 5 are fixed in motor cabinet 6, and linear electric motors 5 control motor shaft 4 and move forward and backward.Motor shaft 4 front end is connected with the centre position of balance weight assembly, and its rear end is connected with the centre position of telescopic fixing rod 9.Fig. 3 show left bar linkage structure schematic diagram, and right connecting rod 12 shape, size and left connecting rod 7 are identical, and the front end of left connecting rod 7 and right connecting rod 12 is provided with an axle, and rear end is provided with a hole；Fig. 4 show left thigh structural representation, and right thigh 13 shape, size and left thigh 8 are identical, and left thigh 8 and right thigh 13 are equipped with four holes from top to bottom；Fig. 5 show left leg structural representation, and right leg 14 shape, size and left leg 11 are identical, and one end of left leg 11 and right leg 14 is equipped with 1 hole；Above described holes all connects for revolute pair.The two ends, left and right of telescopic fixing rod 9 are connected with the form of revolute pair with the rear hole of left connecting rod 7, right connecting rod 12 respectively, the front end axle of left connecting rod 7 is connected with revolute pair with first hole or the 3rd hole of left thigh 8, correspondingly, the front end axle of right connecting rod 12 is connected with revolute pair with the 3rd of right thigh 13 the hole or first hole, left thigh 8, right thigh 13 second hole be connected with revolute pair with the left and right both sides of motor cabinet 6 respectively.So, the right and left of motor cabinet 6 forms two closed loops, and left closed loop includes motor cabinet 6, motor shaft 4, telescopic fixing rod 9, left connecting rod 7 and left thigh 8, and right closed loop includes motor cabinet 6, motor shaft 4, telescopic fixing rod 9, right connecting rod 12 and right thigh 13.The axis of two revolute pairs that left connecting rod 7 and left thigh 8, telescopic fixing rod 9 are formed, and the axis of two revolute pairs that right connecting rod 12 is formed with right thigh 13, telescopic fixing rod 9 is all parallel.The line at the second Ge Kong center of the axis of motor shaft 4 and left thigh 8 and right thigh 13 in the same plane in.By arrangement above, when motor shaft 4 seesaws, it is possible to achieve left thigh 8, right thigh 13 swing.
When motor shaft 4 rearward movement, left thigh 8 swings forward, and right thigh 13 swings backward；When motor shaft 4 travels forward, left thigh 8 swings backward, and right thigh 13 swings forward；Utilize motor shaft 4 to move forward and backward, it may be achieved left thigh 8, right thigh 13 front and back symmetry swing.Pendulum angle and the speed of left and right thigh can be controlled respectively by the movement position and speed controlling linear electric motors 5.
Anticlockwise cylinder 10 is fixed on the outside in the 4th hole of left thigh 8, the axle sleeve of anticlockwise cylinder 10 is connected in the 4th hole of left thigh 8, the axle head of anticlockwise cylinder 10 is fixing in the inner side of left thigh 8 with left leg 11 simultaneously is connected, and is realized the swing of left leg 11 by the rotation of anticlockwise cylinder 10.Additionally, right leg 14, right rotation cylinder 15 have similar above-mentioned annexation with right thigh 13.
As shown in Figure 2, balance weight assembly includes counter-balanced carriage 1, weight bolt 2 and balancing weight 3, the centre position of counter-balanced carriage 1 is fixedly attached to one end of motor shaft 4, counter-balanced carriage 1 arranges the weight bolt 2 of symmetry, each weight bolt 2 can connect one or more balancing weight 3, by regulating the position of centre of gravity of the robot of a kind of quick walk of the weight adjustment embodiment of the present invention of balancing weight 3, to realize the stable motion of robot.
As shown in Fig. 3, Fig. 4 and Fig. 5, it is preferable that arrange left connecting rod 7 consistent with the shape of right connecting rod 12, left thigh 8 is consistent with the shape of right thigh 13, and left leg 11 is consistent with the shape of right leg 14.By above-mentioned mutually isostructural design, add the balance of biped robot.
Additionally, as shown in Figure 4, it is preferable that the distance between first hole and second hole of left thigh 8 and right thigh 13 is set equal to the distance between tri-holes of second Kong Yu.As it is shown in figure 5, being preferably set up left leg 11 and right leg 14 is the middle runway shape for rectangle of semi arch in two ends.A hole concentric with semi arch it is equipped with, to be connected with the axle of anticlockwise cylinder 10, right rotation cylinder 15 respectively in one end of left leg 11 and right leg 14；The other end at left leg 11 and right leg 14 is and earth surface end, semicircular arc, along with the swing of supporting leg, moves along circular arc with the position of earth surface, so can reduce the friction with ground and collision.
The work process of the biped robot of above a kind of quick walk is as follows:
Control the pendulum angle of left thigh 8, right thigh 13 by controlling the movement position of motor shaft 4, the maximum position that left thigh 8, right thigh 13 swing is called the extreme position of left thigh 8, right thigh 13；Relative position between the motor shaft 4 corresponding with the extreme position of left thigh 8, right thigh 13 and motor cabinet 6 is called that (when right thigh 13 is when front, left thigh 8 posterior extreme position, motor shaft 4 is in front extreme position for the extreme position of motor shaft 4；When left thigh 8 is when front, right thigh 13 posterior extreme position, motor shaft 4 is in rear extreme position).
Right lower limb supports the left-leg movement stage: at this stage, right leg 14 all the time with earth surface, and right rotation cylinder 15 is locked all the time, and left leg 11 does twice swings of 180 degree, mainly includes following four state specifically.First state is, motor shaft 4 is in front extreme position, and right thigh 13 and right leg 14 are front, and left thigh 8 and left leg 11 are rear, left leg 11, right leg 14 respectively in the downside of anticlockwise cylinder 10, right rotation cylinder 15, and respectively with left thigh 8, right thigh 13 conllinear.Second state is, motor shaft 4 starts to be moved rearwards by from the front extreme position of the first state, until during setting position, anticlockwise cylinder 10 starts to rotate, drive left leg 11 back rotation, until left leg 11 is retracted to the upside of anticlockwise cylinder 10 completely, and with left thigh 8 conllinear, so that the length of supporting leg is more than the length led leg, it is achieved the walking of robot.The third state is, motor shaft 4 from the end position of the second state continue to move back up another setting position time, anticlockwise cylinder 10 start rotate, drive left leg 11 rotate forward, until left leg 11 is lowered into the downside of anticlockwise cylinder 10 completely, and with left thigh 8 conllinear.4th state is, motor shaft 4 continues to move to rear extreme position from the end position of the third state, and left leg 11 contacts to earth, now have with above-mentioned first state class like state, left lower limb becomes supporting leg, and right lower limb becomes leading leg.
When left lower limb supports right lower limb swings, there is similar above-mentioned motion.In addition needing exist for illustrating, during motor shaft 4 swing, balance weight assembly also follows swing, makes center of gravity all the time in the front portion of biped robot by regulating weight set, along with two thigh alternatively swingings, thus driving biped robot's quick walk.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any amendment, equivalent replacement and improvement etc. made within the spirit and principles in the present invention, should be included within protection scope of the present invention.
Claims (10)
1. the biped robot of a quick walk, it is characterised in that including:
Motor cabinet (6)；
Linear electric motors (5), these linear electric motors (5) are fixed on described motor cabinet (6), and described linear electric motors (5) also include through linear electric motors (5) the motor shaft (4) that is axially movable；
Walking mechanism, this walking mechanism includes left thigh (8), left leg (11), right thigh (13) and right leg (14), described left thigh (8) is identical with right thigh (13) structure, and be connected by revolute pair with the left and right sides of motor cabinet (6) respectively, described left thigh (8) and right thigh (13) are symmetrical when vertical, described left leg (11) and right leg (14) are connected to left thigh (8) and right thigh (13) lower end respectively through revolute pair, described left leg (11) is identical with right leg (14) structure and is eccentric stiffener, rotary course is enough to the bearing height changing left thigh (8) and right thigh (13)；
Drive mechanism, this drive mechanism includes left connecting rod (7), right connecting rod (12) and telescopic fixing rod (9), the middle part of described telescopic fixing rod (9) is fixing with one end of motor shaft (4) to be connected, the two ends of described telescopic fixing rod (9) are rotatably connected with the end of left connecting rod (7) and right connecting rod (12) respectively, the other end of described left connecting rod (7) and right connecting rod (12) is hinged with left thigh (8) and right thigh (13) respectively, and the both sides up and down of described left connecting rod (7) and the pin joint of left thigh (8) and right connecting rod (12) revolute pair that in left thigh (8) and right thigh (13) with motor cabinet (6) be connected arranged in a crossed manner with the pin joint of right thigh (13)；
Balance weight assembly, this balance weight assembly is fixedly installed on the one end on motor shaft (4) away from telescopic fixing rod (9).
2. the biped robot of a kind of quick walk according to claim 1, it is characterised in that described left connecting rod (7), right connecting rod (12) front end are provided with an axle, and rear end is provided with a hole；Described left thigh (8), right thigh (13) are provided with four holes from top to bottom, the front end axle of left connecting rod (7) is connected with first hole of left thigh (8) with revolute pair, the front end axle of right connecting rod (12) is connected with the 3rd hole of right thigh (13) with revolute pair, and the left and right both sides of motor cabinet (6) are connected with second hole revolute pair of left thigh (8), right thigh (13) respectively.
3. the biped robot of a kind of quick walk according to claim 1, it is characterised in that described left connecting rod (7), right connecting rod (12) front end are provided with an axle, and rear end is provided with a hole；Described left thigh (8), right thigh (13) are provided with four holes from top to bottom, the front end axle of left connecting rod (7) is connected with the 3rd hole of left thigh (8) with revolute pair, the front end axle of right connecting rod (12) is connected with first hole of right thigh (13) with revolute pair, and the left and right both sides of motor cabinet (6) are connected with second hole revolute pair of left thigh (8), right thigh (13) respectively.
4. the biped robot of a kind of quick walk according to Claims 2 or 3, it is characterized in that, described left leg (11), right leg (14) one end be equipped with a hole, correspondence is articulated with on the 4th hole of left thigh (8), right thigh (13) respectively；Also include the anticlockwise cylinder (10) for driving described left leg (11), right leg (14) to rotate, right rotation cylinder (15), described anticlockwise cylinder (10), right rotation cylinder (15) respectively with left thigh (8), right thigh (13) be connected, and the axle on anticlockwise cylinder (10), right rotation cylinder (15) be respectively fixedly connected with left leg (11), right leg (14) hole in.
5. the biped robot of a kind of quick walk according to claim 4, it is characterized in that, described balance weight assembly includes counter-balanced carriage (1), weight bolt (2) and balancing weight (3), described balancing weight (3) is connected on counter-balanced carriage (1) by weight bolt (2), and the middle part of described counter-balanced carriage (1) is fixing with described motor shaft (4) to be connected.
6. the biped robot of a kind of quick walk according to claim 5, it is characterized in that, described left leg (11), right leg (14) are the runway shape in the middle of semi arch for rectangle in two ends, and the aperture arranged in its one end is concentric with semi arch.
7. the biped robot of a kind of quick walk according to claim 6, it is characterized in that, the axis of two revolute pairs that described left connecting rod (7) and left thigh (8), telescopic fixing rod (9) are formed, and the axis of two revolute pairs that right connecting rod (12) is formed with right thigh (13), telescopic fixing rod (9) is all parallel.
8. the biped robot of quick walk according to claim 7, it is characterised in that the line at the second Ge Kong center of described motor shaft (4) axis and left thigh (8) and right thigh (13) in the same plane in.
9. the biped robot of a kind of quick walk according to claim 1 or 2 or 3 or 5 or 6 or 7 or 8, it is characterized in that, the distance between first hole and second hole of described left thigh (8) and right thigh (13) is equal to the distance between tri-holes of second Kong Yu.
10. the biped robot of a kind of quick walk according to claim 4, it is characterized in that, the distance between first hole and second hole of described left thigh (8) and right thigh (13) is equal to the distance between tri-holes of second Kong Yu.
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| CN107264666A (en) * | 2017-07-17 | 2017-10-20 | 厦门精图信息技术有限公司 | Hazardous area Robot based on Big Dipper location technology |
| CN107792216A (en) * | 2017-10-30 | 2018-03-13 | 皖西学院 | A kind of single-motor double biped robot |
| CN109795576B (en) * | 2019-03-01 | 2020-05-12 | 浙江大学 | Humanoid biped robot |
| CN111006094A (en) * | 2019-11-02 | 2020-04-14 | 厦门精图信息技术有限公司 | Professional pipeline leakage diagnosis system and method based on Beidou positioning technology |
| CN112776914B (en) * | 2021-01-28 | 2022-08-12 | 南方科技大学 | Biped robot |
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| US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
| CN101428657B (en) * | 2008-12-16 | 2011-02-02 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102897243B (en) * | 2012-10-16 | 2014-11-26 | 浙江大学 | Robot device capable of walking stably |
| CN103010330A (en) * | 2012-12-20 | 2013-04-03 | 华南理工大学 | Biped walking robot |
| CN103204192B (en) * | 2013-03-19 | 2015-08-26 | 北京交通大学 | A kind of two-foot moving mechanism |
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