CN104369790A - Double-foot robot walking mechanism - Google Patents

Double-foot robot walking mechanism Download PDF

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Publication number
CN104369790A
CN104369790A CN201410446333.7A CN201410446333A CN104369790A CN 104369790 A CN104369790 A CN 104369790A CN 201410446333 A CN201410446333 A CN 201410446333A CN 104369790 A CN104369790 A CN 104369790A
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China
Prior art keywords
shank
leg
waist
mechanisms
drive motor
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CN201410446333.7A
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Chinese (zh)
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CN104369790B (en
Inventor
李涛
马克·切卡雷利
骆敏舟
吴晶华
张丽华
Original Assignee
中国科学院合肥物质科学研究院
常州先进制造技术研究所
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Priority to CN201410446333.7A priority Critical patent/CN104369790B/en
Publication of CN104369790A publication Critical patent/CN104369790A/en
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Publication of CN104369790B publication Critical patent/CN104369790B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/022Vehicles 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 consisting of members having both rotational and walking movements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/028Vehicles 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 having wheels and mechanical legs
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00Robots
    • Y10S901/01Mobile robot

Abstract

The invention provides a double-foot robot walking mechanism. The double-foot robot walking mechanism comprises a waist mechanism and two leg mechanisms with the same structures, wherein the leg mechanisms are symmetrically arranged and connected to the two sides of the waist mechanism; the leg mechanisms comprise thigh mechanisms and shank mechanisms; the thigh mechanisms are formed by serially connecting Chebyshev mechanisms and pantograph mechanisms arranged from top to bottom; the shank mechanisms consist of two sets of parallelogram mechanisms arranged at the upper parts and the lower parts of the shanks; shank extension driving motors are mounted at the upper parts of the shanks for driving and adjusting the lengths of the shank mechanisms to adjust the gait of the walking mechanism so as to cross over obstacles; the waist mechanism comprises a gear module, a bearing module and a waist bracket; the steering of the leg mechanisms in the walking process is realized through planning the alternate positive-negative rotation of a waist driving motor; and rollers for realizing a wheel type walking mode are arranged on the shank mechanisms. The double-foot robot walking mechanism has such advantages as various functions, reliable structure, simple control and low cost.

Description

A kind of biped robot's traveling gear

Technical field

The invention belongs to robotics, especially relate to a kind of biped robot's traveling gear.

Background technology

The huge applications of service robot is worth and market outlook have become the common recognition of many countries comprising America and Europe, Japan and Korea S and China, and by some country's special development program of formulation and strategy.And anthropomorphic robot because of have can adapt to the mankind living environment, directly can use the instrument of the mankind and have these three outstanding advantages of affinity because of the feature with people, become the robot partner of the human future be expected most, also become one of the study hotspot in service robot field.According to incompletely statistics, from the anthropomorphic robot the just sincere justice of First in 1973 since Japan is born, the anthropomorphic robot project that the whole world is carried out is more than 100.

Anthropomorphic robot is made up of head, four limbs and trunk, and wherein upper limbs realizes capturing and operation, and lower limb realize walking.Anthropomorphic robot is using the mankind as the prototype of bionics fiber, researcher in current worldwide has carried out large quantifier elimination to the Bionic Design of robot four limbs, degree of freedom configuration is carried out, with the motion of simulating human and motion characteristic in the joint of mechanism design patrix apery class.Particularly single leg is all designed with 6-7 degree of freedom usually, realizes hand and pin motion in three dimensions.As more representational anthropomorphic robot has the ASIMO that represent the most advanced level of anthropomorphic robot generally, KHR and the HUBO Series machine people of Korea Advanced Institute of Science and Technology, Japanese industries Technical Integration Studies HRP Series machine people, the iCub of Italian Technology research institute, the WABIAN-2 of Waseda, the H7 of Tokyo University's exploitation, the REEM-B that Robot Helps Me To Avoid Danger LOLA and PalRobotics that Technical University at Munich develops on robot Johnnie basis develops, the Myon of Humboldt-Universitaet zu Berlin's exploitation, the Mahru etc. of Samsung of Korea S exploitation, all have the leg that two respectively have 6 or 7 degree of freedom.

At home, Ye Youduojia research institution has carried out a large amount of research to biped robot, and achieves plentiful and substantial achievement in research.Comparatively early carry out the forerunner of National University of Defense technology's exploitation of anthropomorphic robot research, and the BHR Series machine people of Beijing Institute of Technology's exploitation afterwards, the THBIP of Tsing-Hua University, the realizing of Zhejiang University, empty robot and Hefei material science research institute of the Chinese Academy of Sciences also all have at the IPR-1 etc. of exploitation in 2013 leg that two respectively have 6 degree of freedom.

Degree of freedom configuration is carried out in the joint of these robot leg design references mankind both legs, the robot leg designed and developed has higher alerting ability, can simulating human complete walk upright, turn, the motion such as obstacle detouring, stair activity, but the use of many motors also makes this kind of robot Shortcomings, is summarized as follows:

1. cost is high: each degree of freedom of robot leg all configures a motor, a harmonic speed reducer and a motor driver; in addition; usually also multi-dimension force sensor etc. is configured with; all costly, distance practical application also has far distance to these gauge member prices because of high cost to make robot.

2. energy consumption is large: the use of many motors makes robot overall power comparatively large, and anthropomorphic robot is by powered battery, and therefore the flying power of superpower to battery causes challenge.

3. weight is large: the gauge member such as motor, harmonic speed reducer is heavier, makes robot weight comparatively large, exacerbates the consumption of energy on the one hand, on the one hand because inertia makes greatly robot safety not high.

4. control complicated: the motor of One's name is legion makes the complexity of control system greatly improve, and makes the stability of system decrease simultaneously.

Summary of the invention

For the deficiencies in the prior art, technical matters to be solved by this invention is, provides biped robot's traveling gear that a kind of diverse in function, structure are reliable, control is simple, cost is low.

The technical scheme that the present invention solve the technical problem is: a kind of biped robot's traveling gear, comprises the leg mechanism that waist mechanism is identical with two-strip structure, and described leg mechanism is symmetrical arranged and is connected to waist mechanism both sides;

Described leg mechanism comprises large leg mechanism and little leg mechanism, and described large leg mechanism is connected to form by the Chebyshev mechanism arranged from top to bottom and pantagraph mechanisms in series; The input hinge place of described Chebyshev mechanism is provided with leg drive motor, and driven by this motor and be used for producing the gait curve being applicable to walking, pantagraph mechanism is used for amplifying this curve; Described little leg mechanism is made up of shank top and shank bottom two parts, and shank top and shank bottom are formed by parallel-crank mechanism; Described shank top is provided with shank telescopic drive motor, regulates shank mechanism length for driving; The length of described little leg mechanism realizes by regulating the relative position between shank upper and lower, shank top is provided with chute, shank bottom is provided with slide bar, slide bar can slide up and down in chute, thus drive shank bottom away from (close) shank top, to increase (reduction) shank mechanism length, in order to adjust the gait of traveling gear with across obstacle;

Described waist mechanism comprises gear module, bearing module and waist bracket; Described gear module is that axis being parallel is arranged in order engagement between two and forms by four identical spur gear wheels, the gear being positioned at both sides is fixedly connected with the framework of leg mechanism respectively, waist drive motor is arranged in one of them of middle two spur gear wheels, when waist drive motor rotates, the cylindrical straight gear wheel speed of both sides is consistent but direction is contrary, realizes leg mechanism turning in the process of walking by the alternately rotating of planning waist drive motor; Described bearing module is made up of four thrust ball bearings, is divided into two groups to be arranged in waist bracket and is also connected with two legs portion mechanism respectively, two legs portion mechanism can be rotated around waist mechanism, realizes break-in walking.

Described shank telescopic drive motor output shaft is a screw rod, screw rod coordinates a nut is installed, this nut is arranged on shank bottom, when just (instead) turns shank telescopic drive motor, nut moves along screw rod to away from (close) motor one side, thus drives shank bottom to make leg length increase (reduction) away from (close) shank top.

Described little leg mechanism is provided with the roller for realizing running on wheels pattern, this roller is arranged on bottom, shank top, controlled separately by roller drive motor, when robot is operated in sufficient formula pattern, be installed on the foot of shank lower bottom end lower than the roller being installed on bottom, shank top, namely roller is unsettled, foot lands, and when robot is operated in wheeled pattern, be installed on the roller of bottom, shank top lower than the foot being installed on shank lower bottom end, namely foot is unsettled, roller lands, biped traveling gear realizes the switching of wheeled and sufficient formula pattern by the length changing little leg mechanism.

Compared with prior art, owing to adopting technique scheme, these biped traveling gear both legs are configured with 7 degree of freedom altogether, design relative to the robot leg of traditional many motors, the quantity of motor reduces nearly half, but the craspedodrome of robot, turning, obstacle detouring and stair activity etc. can be realized equally, and there are sufficient formula and wheeled two kinds of walking modes.

The invention has the beneficial effects as follows: have diverse in function, structure reliable, control simple, low cost and other advantages, as the traveling gear of anthropomorphic robot, there is good using value.

Accompanying drawing explanation

Below by with reference to accompanying drawing describe the present invention particularly in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and does not form restriction of going up in all senses of the present invention, in the accompanying drawings:

Fig. 1 is biped robot's traveling gear general effect figure of the present invention;

Fig. 2 is the leg structure figure of biped robot's traveling gear of the present invention; In Fig. 2, Fig. 2 (a) is the leg mechanism sketch of biped robot's traveling gear of the present invention; Fig. 2 (b) is the left leg structural representation of biped robot's traveling gear of the present invention; Fig. 2 (c) is the shank topside figure of biped robot's traveling gear of the present invention; Fig. 2 (d) is the shank lower junction composition of biped robot's traveling gear of the present invention;

Fig. 3 is the waist structure figure of biped robot's traveling gear of the present invention; In Fig. 3, Fig. 3 (a) is the structural representation of the waist mechanism of biped robot's traveling gear of the present invention; Fig. 3 (b) is waist mechanism centre bearer module of the present invention and leg portion attaching structure schematic diagram; Fig. 3 (c) is waist mechanism middle gear module of the present invention and leg portion attaching structure figure;

Fig. 4 is the schematic diagram that biped robot's traveling gear of the present invention realizes turning to 40 °; In Fig. 4, Fig. 4 (a) is the motor movement diagram of curves that biped robot's traveling gear of the present invention realizes turning to 40 °; Fig. 4 (b) is the process schematic that biped robot's traveling gear of the present invention realizes turning to 40 °;

Fig. 5 is the schematic diagram that biped robot's traveling gear of the present invention realizes across obstacle;

Fig. 6 is the principle schematic that biped robot's traveling gear of the present invention realizes going upstairs;

Fig. 7 is the schematic diagram that biped robot's traveling gear of the present invention is operated in wheeled pattern; In Fig. 7, Fig. 7 (a) is the schematic diagram that biped robot's traveling gear of the present invention is operated in wheeled pattern; Fig. 7 (b) is the inverted pendulum control illustraton of model of the wheeled pattern of biped robot's traveling gear of the present invention;

Fig. 8 is an Application Example of biped robot's traveling gear of the present invention;

In accompanying drawing:

1, leg mechanism 2, waist mechanism 11, large leg mechanism

12, little leg mechanism 13, leg drive motor 14, shank telescopic drive motor

21, bearing module 22, gear module 23, waist bracket

24, waist drive motor 121, shank top 122, shank bottom

123, foot 124, slide bar 125, chute

126, roller drive motor 127, roller 141, screw rod

142, nut

Detailed description of the invention

The present invention is described further below in conjunction with embodiment and accompanying drawing thereof:

As Figure 1-3, a kind of biped robot's traveling gear of the present invention, comprise waist mechanism 2 leg mechanism identical with two-strip structure 1, described leg mechanism 1 is symmetrical arranged and is connected to waist mechanism 2 both sides;

Described leg mechanism comprises large leg mechanism 11 and little leg mechanism 12, and described large leg mechanism 11 is connected to form by the Chebyshev mechanism arranged from top to bottom and pantagraph mechanisms in series; The input hinge place of described Chebyshev mechanism is provided with leg drive motor 13, and driven by this motor and be used for producing the gait curve being applicable to walking, pantagraph mechanism is used for amplifying this curve; Described little leg mechanism 12 is made up of shank top 121 and shank bottom 122 two parts, and shank top 121 and shank bottom 122 are formed by parallel-crank mechanism; Described shank top 121 is provided with shank telescopic drive motor 14, for driving the length regulating little leg mechanism 12; The length of described little leg mechanism 12 realizes by regulating the relative position between shank top 121 and shank bottom 122, shank top 121 is provided with chute 123, shank bottom 122 is provided with slide bar 124, slide bar 124 can slide up and down in chute 123, thus drive shank bottom 122 away from (close) shank top 121, to increase the length of (reduction) little leg mechanism 12, in order to adjust the gait of traveling gear with across obstacle;

Described waist mechanism 2 comprises gear module 22, bearing module 21 and waist bracket 23; Described gear module 22 is that axis being parallel is arranged in order engagement between two and forms by four identical spur gear wheels, the gear being positioned at both sides is fixedly connected with the framework of leg mechanism 1 respectively, waist drive motor 13 is arranged in one of them of middle two spur gear wheels, when waist drive motor 13 rotates, the cylindrical straight gear wheel speed of both sides is consistent but direction is contrary, realizes leg mechanism 1 turning in the process of walking by the alternately rotating of planning waist drive motor 13; Described bearing module 21 is made up of four thrust ball bearings, is divided into two groups to be arranged in waist bracket 23 and is also connected with two legs portion mechanism 1 respectively, two legs portion mechanism 1 can be rotated around waist mechanism 2, realizes break-in walking.

Described shank telescopic drive motor 14 output shaft is a screw rod 141, screw rod 141 coordinates a nut 142 is installed, this nut 142 is arranged on shank bottom 122, when just (instead) turns shank telescopic drive motor 12, nut 142 moves along screw rod 141 to away from (close) motor one side, thus drives shank bottom 122 to make leg length increase (reduction) away from (close) shank top 121.

Described little leg mechanism 12 is provided with the roller 125 for realizing running on wheels pattern, this roller 125 is arranged on the bottom on shank top 121, controlled separately by roller drive motor 126, when robot is operated in sufficient formula pattern, be installed on the foot of bottom, shank bottom 122 lower than the roller 125 being installed on bottom, shank top 121, namely roller 125 is unsettled, foot 123 lands, and when robot is operated in wheeled pattern, be installed on the roller 125 of bottom, shank top 121 lower than the foot 123 being installed on bottom, shank bottom 122, namely foot 123 is unsettled, roller 125 lands, biped traveling gear realizes the switching of wheeled and sufficient formula pattern by the length changing little leg mechanism 12.

Fig. 2 (a) is depicted as the leg mechanism sketch of biped robot's traveling gear of the present invention, capital letter (A, B in figure, C ...) representing hinge, M1, M2 and M3 represent drive motor, numeral (1,2,3 ...) connecting rod in outgoing mechanism; In figure, ABCDE is Chebyshev mechanism, it is a four-bar linkage, be fixed on the crank AC in frame by a frame AB, one end, rocking bar BD that one end is fixed in frame forms with the fork CDE be connected with rocking bar with crank while of, its length ratio is AB: AC: BC: CD: DE=2: 1: 2.5: 2.5: 2.5; FGHIJK is pantagraph mechanism, and it is also a four-bar linkage, is made up of input lever FGH, take-off lever HJK, connecting rod GI and connecting rod IJ, and GH is parallel and equal IJ, and IG is parallel and equal HJ, F, I and K three point on a straight line.

The motor movement diagram of curves of Fig. 4 (a) for realizing turning to for biped robot's traveling gear, when being arranged on after the waist drive motor on gear module inner gear shaft is endowed such characteristics of motion, it can realize the change realizing turning to 40 ° in four steps, as shown in Fig. 4 (b).

Shown in Fig. 5 is the principle schematic realizing across obstacle by changing shank mechanism length, wherein obstacle A is the obstacle that shank mechanism length can be crossed over when being fixed on maxim, B is the obstacle that reasonable adjusting shank mechanism length can be crossed in leap process, can find out, by regulating the length of little leg mechanism 12, the size of the obstacle that can cross over is larger.

Shown in Fig. 6 is the principle schematic realizing going upstairs by changing shank mechanism length, 1.-10 steps 10. alternately completing for left and right leg, by the characteristics of motion of shank telescopic drive motor of making rational planning for, can realize four steps on biped robot's traveling gear in 10 steps, the planning of going downstairs is similar.

Fig. 7 (a) is operated in the schematic diagram of wheeled pattern, the inverted pendulum control model of the wheeled pattern that Fig. 7 (b) is biped robot's traveling gear for biped robot's traveling gear.

Fig. 8 is that biped robot's traveling gear is applied in an embodiment of drawing in dolly, and biped robot's traveling gear can be used for drawing object carrier by this application.

It should be noted that, the functions such as Fig. 4-6 is used to illustrate that biped robot's traveling gear of the present invention can realize turning to, obstacle detouring and stair activity, Fig. 8 show only wherein a kind of application of biped robot's traveling gear of the present invention, but the motion planning of biped robot's traveling gear of the present invention and application are not limited to above-mentioned several embodiment.

Obviously, those skilled in the art can to a kind of biped robot's traveling gear of the present invention and method of work, carries out various change and modification and does not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.

Claims (3)

1. biped robot's traveling gear, comprises the leg mechanism that waist mechanism is identical with two-strip structure, and described leg mechanism is symmetrical arranged and is connected to waist mechanism both sides, it is characterized in that:
Described leg mechanism comprises large leg mechanism and little leg mechanism, and described large leg mechanism is connected to form by the Chebyshev mechanism arranged from top to bottom and pantagraph mechanisms in series; The input hinge place of described Chebyshev mechanism is provided with leg drive motor, and driven by this motor and be used for producing the gait curve being applicable to walking, pantagraph mechanism is used for amplifying this curve; Described little leg mechanism is made up of shank top and shank bottom two parts, and shank top and shank bottom are formed by parallel-crank mechanism; Described shank top is provided with shank telescopic drive motor, regulates shank mechanism length for driving; The length of described little leg mechanism realizes by regulating the relative position between shank upper and lower, shank top is provided with chute, shank bottom is provided with slide bar, slide bar can slide up and down in chute, thus drive shank bottom away from (close) shank top, to increase (reduction) shank mechanism length, in order to adjust the gait of traveling gear with across obstacle;
Described waist mechanism comprises gear module, bearing module and waist bracket; Described gear module is that axis being parallel is arranged in order engagement between two and forms by four identical spur gear wheels, the gear being positioned at both sides is fixedly connected with the framework of leg mechanism respectively, waist drive motor is arranged in one of them of middle two spur gear wheels, when waist drive motor rotates, the cylindrical straight gear wheel speed of both sides is consistent but direction is contrary, realizes leg mechanism turning in the process of walking by the alternately rotating of planning waist drive motor; Described bearing module is made up of four thrust ball bearings, is divided into two groups to be arranged in waist bracket and is also connected with two legs portion mechanism respectively, two legs portion mechanism can be rotated around waist mechanism, realizes break-in walking.
2. biped robot's traveling gear according to claim 1, it is characterized in that: described shank telescopic drive motor output shaft is a screw rod, screw rod coordinates a nut is installed, this nut is arranged on shank bottom, when just (instead) turns shank telescopic drive motor, nut moves along screw rod to away from (close) motor one side, thus drives shank bottom to make leg length increase (reduction) away from (close) shank top.
3. biped robot's traveling gear according to claim 1, it is characterized in that: described little leg mechanism is provided with the roller for realizing running on wheels pattern, this roller is arranged on bottom, shank top, controlled separately by roller drive motor, when robot is operated in sufficient formula pattern, be installed on the foot of shank lower bottom end lower than the roller being installed on bottom, shank top, namely roller is unsettled, foot lands, and when robot is operated in wheeled pattern, be installed on the roller of bottom, shank top lower than the foot being installed on shank lower bottom end, namely foot is unsettled, roller lands, biped traveling gear realizes the switching of wheeled and sufficient formula pattern by the length changing little leg mechanism.
CN201410446333.7A 2014-09-04 2014-09-04 A kind of biped robot's walking mechanism CN104369790B (en)

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CN104908839A (en) * 2015-07-10 2015-09-16 陕西九立机器人制造有限公司 Bionic leg structure applicable to footed robot
CN105269577A (en) * 2015-06-26 2016-01-27 浙江大学 Switching control system and method for gaits of humanoid biped robot
CN105691482A (en) * 2015-12-31 2016-06-22 重庆楠婧琳科技开发有限公司 Robot
CN106003092A (en) * 2016-07-12 2016-10-12 张学衡 Water sending robot
CN106184455A (en) * 2015-04-29 2016-12-07 青岛通产智能机器人有限公司 The biped wheeled robot of wheeled lifting type
CN106741285A (en) * 2017-01-13 2017-05-31 深圳市行者机器人技术有限公司 Biped is semi-passive to a point upper body walking robot
CN107253498A (en) * 2017-06-07 2017-10-17 中科新松有限公司 A kind of legged type robot leg structure and the legged type robot with it
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
CN108974177A (en) * 2018-08-30 2018-12-11 广东宏穗晶科技服务有限公司 A kind of robot ambulation driving mechanism
CN110103257A (en) * 2019-05-10 2019-08-09 东方电子股份有限公司 One kind is based on double line laser radar independent navigation robots
CN110271622A (en) * 2018-03-15 2019-09-24 杭州萤石软件有限公司 Take turns sufficient formula structure and wheel legged type robot
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CN106184455A (en) * 2015-04-29 2016-12-07 青岛通产智能机器人有限公司 The biped wheeled robot of wheeled lifting type
CN105269577A (en) * 2015-06-26 2016-01-27 浙江大学 Switching control system and method for gaits of humanoid biped robot
CN104908839B (en) * 2015-07-10 2017-06-06 陕西九立机器人制造有限公司 It is a kind of to can be used for the bionical leg structure of legged type robot
CN104908839A (en) * 2015-07-10 2015-09-16 陕西九立机器人制造有限公司 Bionic leg structure applicable to footed robot
CN105691482A (en) * 2015-12-31 2016-06-22 重庆楠婧琳科技开发有限公司 Robot
CN106003092A (en) * 2016-07-12 2016-10-12 张学衡 Water sending robot
CN106741285A (en) * 2017-01-13 2017-05-31 深圳市行者机器人技术有限公司 Biped is semi-passive to a point upper body walking robot
CN106741285B (en) * 2017-01-13 2019-08-27 深圳市行者机器人技术有限公司 Biped is semi-passive to dividing upper body walking robot
CN107253498B (en) * 2017-06-07 2019-12-03 中科新松有限公司 A kind of legged type robot leg structure and the legged type robot with it
CN107253498A (en) * 2017-06-07 2017-10-17 中科新松有限公司 A kind of legged type robot leg structure and the legged type robot with it
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
CN110271622A (en) * 2018-03-15 2019-09-24 杭州萤石软件有限公司 Take turns sufficient formula structure and wheel legged type robot
CN108974177A (en) * 2018-08-30 2018-12-11 广东宏穗晶科技服务有限公司 A kind of robot ambulation driving mechanism
CN111377005A (en) * 2018-12-29 2020-07-07 深圳市优必选科技有限公司 Link mechanism and robot
CN110103257A (en) * 2019-05-10 2019-08-09 东方电子股份有限公司 One kind is based on double line laser radar independent navigation robots

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