CN104590413A - Bionic jumping and walking mechanism - Google Patents
Bionic jumping and walking mechanism Download PDFInfo
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- CN104590413A CN104590413A CN201410819796.3A CN201410819796A CN104590413A CN 104590413 A CN104590413 A CN 104590413A CN 201410819796 A CN201410819796 A CN 201410819796A CN 104590413 A CN104590413 A CN 104590413A
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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
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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 invention discloses a bionic jumping and walking mechanism. Existing robot can only move on the flat terrain and can not be adapted to the complicated terrain environment in the natural world. According to the bionic jumping and walking mechanism, the jumping mechanism is driven and locked or unlocked through a spring locking and unlocking mechanism, a main motor drives a fourth straight gear, an input shaft is supported by a gearbox through a bearing, the fourth straight gear, a ratchet wheel and a clutch fixed block are all fixed to the input shaft, the ratchet wheel is meshed with a pawl, a clutch movable block is connected with an output shaft through a spline, the clutch movable block and the clutch fixed block are embedded together, a base of a shifting fork driving motor is fixed to the gearbox, a second crank is fixedly connected to an output shaft of the shifting fork driving motor, the two ends of a second connecting rod are hinged to the second crank and the end of a shifting fork respectively, the middle of the shifting fork is hinged to a supporting shaft of a motor supporting frame, and a U-shaped fork body of the shifting fork is embedded in an annular groove of the clutch movable block. According to the bionic jumping and walking mechanism, jumping angle adjustment, jumping height adjustment, continuous jumping, automatic resetting and walking can be achieved so that the bionic jumping and walking mechanism can be adapted to the complicated environment.
Description
Technical field
The invention belongs to robotics, relate to bio-robot, be specifically related to a kind of bionic hopping and traveling gear, can be used as the leg mechanism of bio-robot.
Background technology
Spring is a kind of very common mode of motion of occurring in nature, and as frog, kangaroo and mantis etc., compared to walking, spring has the features such as wide, the mobile efficiency of action radius is high, force of explosion is strong.Hopping robot is as a kind of mobile platform, alerting ability is good, not only can adapt to rugged landform, can easily cross when running into obstacle or gully, especially, under outer space low-gravity environment, the spatial dimension of its movement is far longer than wheeled or legged type robot.
Abroad, U.S. professor Raibert devises in the world with single robot leg that spring mode is moved, and its leg fills the cylinder that is equivalent to spring, can only at a move in plane.A kind of robot leg structure utilizing motor and cylinder parallel drive of U.S. HRL making in laboratory, this mechanism's leg has three joints, and each joint uses the steering wheel that accurately can control joint angles and provides the cylinder of the instantaneous burst power tensile elasticity material that walks abreast to drive, joint is swung rapidly, but the bounce motion in single leg original place can only be realized.NASA successively have developed three generations's flip-over type robot, and the third generation is wheeled hopping robot, structure remains six bar gear bouncing mechanisms of the second generation, and the action being wound around roller by steel cable realizes the flexible of spring.The Garth Zeglin of CMU have developed a kind of three-dimensional Bow Leg robot, the movement of spring step type can be done at three dimensional space, principle is that motor is strained and abrupt release rope by pulley gear, arcuate resilient leg is tightened and upholds instantaneously, thus realizing whole bounce motion.Case Western Reserve University develops the cricket that artificial muscle drives, its leg is by microprocessor control leg micro valve and air compressor, artificial muscle is made tighten and contractive action, realize walking and the spring-like movement of mechanical cricket.The three-dimensional list leg bouncing mechanism of Massachusetts Institute of Technology's development can independently be beated in the horizontal plane, energy autostable after being interfered, but needs to connect power supply, tracheae and control line etc. from outside.The arc bouncing mechanism of people's developments such as U.S. Jean-christophe Zuffercy, utilize the energy of last spring, to simplify in most mechanism complicated locking and trigger mechanism, but its stored energy limited time and the accumulation that can not circulate, and jumping height is limited.The people such as Japan Toshiki MaSuda have developed quadruped robot Rush, and every bar leg has knee, hip two joints, is all pitch freedom, and its knee joint is that the passive rotation of spring constraint is secondary, and this robot can realize stable jump gait.The people such as Tokyo Univ Japan Niiyama have developed a kind of biped hopping robot Mowgli of novelty, respectively one degree of freedom is had in hip joint, knee joint and ankle, employing Pneumatic artificial muscle drives, and can complete the jump action about the same with true frog.
Domestic, Harbin Institute of Technology have developed a kind of imitative frog hopping robot, and hind leg adopts five bar gear bouncing mechanisms, and forelimb has two degree of freedom, can adjust take-off angle and jumping height, can automatically reset after spring." 4+2 " bionical Multifeet walking robot of Central China University of Science and Technology's development, its leg degree of freedom is made up of three active degree of freedom and a passive freedom degree, adopts the thought of hierarchical control, has certain all direction walking ability.The bionics crab-liked robot of Beijing Institute of Technology's development, its leg has three degree of freedom, by driven by Brush-Less DC motor joint motions, can realize omnibearing movement.Harbin Institute of Technology have developed a kind of every bar leg and only has a quadruped robot driven, and by a DC motor Driver, it rotates the hip joint of every bar leg, and leg forms passive moving sets by spring and rectilinear movement guide rail; This robot can realize the Bounding gait that front and back leg alternately supports, and robot is very fast from the static accelerator at the uniform velocity running.
But above-mentioned robot all can only realize single movement or spring-like movement, can only move in very smooth landform or bounce at present, terrain environment that also far away can not be complicated in reform of nature circle.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, a kind of bionic hopping and traveling gear are provided, there is take-off angle adjustment, jumping height adjustment, continuous bounce, the function that automatically resets and walk, to adapt to complex environment.
The technical solution used in the present invention is:
The present invention includes bouncing mechanism and spring lock-unlock mechanism; Described bouncing mechanism comprises gear case, hip joint motor, crank one, connecting rod one, synchronizer gear, thigh bar, shank bar one, shank bar two, extension spring one, extension spring two, output shaft, cylinder and steel cable; Columniform gear case is bearing on robot trunk by bearing, forms hip joint; The base of described hip joint motor is fixed on robot trunk, and crank one is fixed on the output shaft of hip joint motor, and the two ends of connecting rod one are articulated with one end of crank one and the end face edge of gear case respectively; Two rooted tooth wheel rotational symmetry are articulated with on gear case, and two synchronizer gears be fixed on two rooted tooth wheel shafts are meshed; Two synchronizer gears are all fixed with thigh bar, and one end of shank bar one by pinned connection, forms knee joint one with anterior thigh bar; The other end of described shank bar one and the middle part pinned connection of shank bar two, form ankle-joint; The two ends of described shank bar two respectively with thigh bar and the sole plate pinned connection at rear portion, form knee joint two and Lisfrac's joint; The two ends of extension spring one are separately fixed on the bearing pin at knee joint one and knee joint two place, and one end of extension spring two is fixed on the bearing pin of ankle, and the other end is fixed on the bearing pin at Lisfrac's joint place; Output shaft and gear case hinged, cylinder and output shaft fixed connection; The one ends wound of steel cable is on cylinder, and the other end is connected on the bearing pin of ankle.
Described spring lock-unlock mechanism comprises mair motor, straight gear three, input shaft, straight gear four, ratchet, power-transfer clutch motion block, power-transfer clutch determine block, shift fork drive motor, crank two, connecting rod two and shift fork; The base of described mair motor is fixed on gear case, the output shaft fixed connection of straight gear three and mair motor; Described input shaft is bearing on gear case by bearing, and straight gear four, ratchet and power-transfer clutch are determined block and be all fixed on input shaft; Straight gear four engages with straight gear three; Pawl axis is bearing on gear case by bearing; Described ratchet is fixed on pawl axis, and engages with ratchet; One end and the ratchet of pawl restoring spring are fixed, and the other end and gear case are fixed; Described power-transfer clutch motion block and the output shaft of bouncing mechanism are by spline joint, and to determine block chimeric with power-transfer clutch; Clutch reset spring housing on output shaft, and is arranged between power-transfer clutch motion block and the inner end surface of gear case; The base of described shift fork drive motor is fixed by motor support frame and gear case, and crank two is connected on the output shaft of shift fork drive motor; The two ends of described connecting rod two are articulated with on the end of crank two and shift fork respectively; The middle part of shift fork and the bolster of motor support frame hinged, in the circular groove of the U-shaped fork embeddeding clutch motion block of shift fork.
Gear case comprises gear box casing, gear case upper cover and gear case lower cover; The two ends of described gear box casing are fixed with gear case upper cover and gear case lower cover respectively; Cover under the two ends of described motor support frame are separately fixed at gear case upper cover and gear case.
Straight gear four is 2:1 with the ratio of number of teeth of straight gear three.
The invention has the beneficial effects as follows:
The present invention can be used as the leg mechanism of bio-robot, has take-off angle adjustment, jumping height adjustment, continuous bounce, the function that automatically resets and walk; Highly versatile, programmability are good, by controlling the rotating speed of each joint motor, can realize complicated path of motion.
Accompanying drawing explanation
Fig. 1 is integral structure block diagram of the present invention;
Fig. 2 is the assembling stereogram of spring lock-unlock mechanism and bouncing mechanism in the present invention;
Fig. 3 is the assembling stereogram of spring lock-unlock mechanism and gear case upper cover and gear case lower cover in the present invention;
Fig. 4 is the assembling stereogram of spring lock-unlock mechanism and gear case upper cover in the present invention;
Fig. 5 is the structural perspective of spring lock-unlock mechanism in the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, but the present invention is not limited to following examples.
As shown in Figure 1,2 and 3, a kind of bionic hopping and traveling gear, comprise bouncing mechanism and spring lock-unlock mechanism.
Bouncing mechanism comprises gear box casing 1, gear case upper cover 19, gear case lower cover 13, hip joint motor, crank one, connecting rod one, synchronizer gear 8, thigh bar 2, shank bar 1, shank bar 26, extension spring 1, extension spring 25, output shaft 27, cylinder 29 and steel cable 15; The two ends of gear box casing 1 are fixed with gear case upper cover 19 and gear case lower cover 13 respectively; Gear box casing 1 is bearing on robot trunk by bearing, forms hip joint; The base of hip joint motor is fixed on robot trunk, and crank one is fixed on the output shaft of hip joint motor, and the two ends of connecting rod one are articulated with one end of crank one and the edge of gear case upper cover 19 respectively; Two rooted tooth wheel shaft 18 symmetries are articulated with on gear case upper cover 19, and two synchronizer gears 8 be fixed on two rooted tooth wheel shafts 18 are meshed; Two synchronizer gears 8 are all fixed with thigh bar 2, and one end of shank bar 1 is connected by bearing pin 14 with anterior thigh bar 2, forms knee joint one; The other end of shank bar 1 is connected with bearing pin 14 with the middle part of shank bar 26, forms ankle-joint, and the two ends of shank bar 26 are connected with the thigh bar 2 at rear portion and sole plate 4 bearing pin 14 respectively, formation knee joint two and Lisfrac's joint; The two ends of extension spring 1 are separately fixed on the bearing pin 14 at knee joint one and knee joint two place, and one end of extension spring 25 is fixed on the bearing pin 14 of ankle, and the other end is fixed on the bearing pin 14 at Lisfrac's joint place; Output shaft 27 is hinged on gear case upper cover 19, and cylinder 29 and output shaft 27 are connected, and the one ends wound of steel cable 15 is on cylinder 29, and the other end is connected on the bearing pin 14 of ankle.
As shown in Fig. 3,4 and 5, spring lock-unlock mechanism comprises mair motor 20, straight gear 3 21, input shaft 25, straight gear 4 22, ratchet 34, power-transfer clutch motion block 26, power-transfer clutch determine block 24, shift fork drive motor 30, crank 2 32, connecting rod 2 16 and shift fork 33; The base of mair motor 20 is fixed on gear case lower cover 13, the output shaft fixed connection of straight gear 3 21 and mair motor 20; Input shaft 25 is bearing on gear case lower cover 13 by bearing, and straight gear 4 22, ratchet 23 and power-transfer clutch are determined block 24 and be all fixed on input shaft 25; Straight gear 4 22 engages with straight gear 3 21, and ratio of number of teeth is 2:1; Pawl axis 17 is bearing on gear case lower cover 13 by bearing; Ratchet 34 is fixed on pawl axis 17, and engages with ratchet 34; One end and the ratchet 34 of pawl restoring spring are fixed, and the other end and gear case lower cover 13 are fixed; The output shaft 27 of power-transfer clutch motion block 26 and bouncing mechanism is by spline joint, and to determine block 24 chimeric with power-transfer clutch, and power-transfer clutch motion block 26 can move on output shaft 27; Clutch reset spring 28 is enclosed within output shaft 27, and is arranged between power-transfer clutch motion block 26 and gear case upper cover 19; The two ends of motor support frame 31 are separately fixed on gear case upper cover 19 and gear case lower cover 13, and the base of shift fork drive motor 30 is fixed on motor support frame 31, and crank 2 32 is connected on the output shaft of shift fork drive motor 30; The two ends of connecting rod 2 16 are articulated with on the end of crank 2 32 and shift fork 33 respectively; The middle part of shift fork 33 and the bolster of motor support frame 31 hinged, in the circular groove of the U-shaped fork embeddeding clutch motion block 26 of shift fork 33.
The principle of work of this bionic hopping and traveling gear:
1, imitative kangaroo bounce motion is realized.Each cycle of imitative kangaroo spring can be divided into four-stage: new field of technical activity, Take-off Stage, soar ascent stage and landing period.
New field of technical activity, mair motor 20 through straight gear 3 21, straight gear 4 22, input shaft 25, power-transfer clutch motion block 26, power-transfer clutch determines block 24 and output shaft 27 drives cylinder 29 to rotate, steel cable 15 is wrapped on cylinder, bouncing mechanism shrink, extension spring 1 tension, storage elasticity potential energy; Hip joint driven by motor bouncing mechanism rotates forward, and prepares take-off; Take-off Stage, shift fork drive motor 30 drives shift fork 33 to rotate forward, and power-transfer clutch motion block 26 and power-transfer clutch are determined block 24 and be separated, and extension spring 1 is released, and recover former length gradually, elastic potential energy transfers mechanical energy to, and it is liftoff that bouncing mechanism obtains initial velocity spring; Soar ascent stage, and shift fork drive motor 30 drives shift fork 33 to reverse, and it is chimeric under the effect of clutch reset spring 28 that power-transfer clutch motion block 26 and power-transfer clutch determine block 24, meanwhile, and hip joint driven by motor bouncing mechanism forward swing; Landing period, crank one and connecting rod one are point-blank, be in dead center position, self-lock protection effect is played to hip joint motor, sole plate 4 first contacts to earth, extension spring 1 stretches under the effect of ground shock power, and the gravitional force of this bionic hopping and traveling gear is partially converted into the elastic potential energy of extension spring 1, reduces the load of mair motor 20; After landing, mair motor 20 drives extension spring 1 to stretch, and hip joint driven by motor bouncing mechanism rotates forward, and resets to pose when preparing take-off, for take-off is prepared next time.
2, walking is realized.Four these bionic hoppings and traveling gear are contained on robot trunk, two kinds of walking paces can be realized.The first to contact to earth paces for tripodia, namely robot often row make a move, have at least three legs to contact to earth, to maintain the balance of robot center of gravity; The second is diagonal angle foot paces, and robot four legs can be divided into two groups of diagonal angles foot, and often row makes a move, two groups of diagonal angle foots successively liftoff, contact to earth, the center of gravity of robot is at four cornerwise centers of leg.
Claims (3)
1. bionic hopping and a traveling gear, comprises bouncing mechanism and spring lock-unlock mechanism, it is characterized in that:
Described bouncing mechanism comprises gear case, hip joint motor, crank one, connecting rod one, synchronizer gear, thigh bar, shank bar one, shank bar two, extension spring one, extension spring two, output shaft, cylinder and steel cable; Columniform gear case is bearing on robot trunk by bearing, forms hip joint; The base of described hip joint motor is fixed on robot trunk, and crank one is fixed on the output shaft of hip joint motor, and the two ends of connecting rod one are articulated with one end of crank one and the end face edge of gear case respectively; Two rooted tooth wheel rotational symmetry are articulated with on gear case, and two synchronizer gears be fixed on two rooted tooth wheel shafts are meshed; Two synchronizer gears are all fixed with thigh bar, and one end of shank bar one by pinned connection, forms knee joint one with anterior thigh bar; The other end of described shank bar one and the middle part pinned connection of shank bar two, form ankle-joint; The two ends of described shank bar two respectively with thigh bar and the sole plate pinned connection at rear portion, form knee joint two and Lisfrac's joint; The two ends of extension spring one are separately fixed on the bearing pin at knee joint one and knee joint two place, and one end of extension spring two is fixed on the bearing pin of ankle, and the other end is fixed on the bearing pin at Lisfrac's joint place; Output shaft and gear case hinged, cylinder and output shaft fixed connection; The one ends wound of steel cable is on cylinder, and the other end is connected on the bearing pin of ankle;
Described spring lock-unlock mechanism comprises mair motor, straight gear three, input shaft, straight gear four, ratchet, power-transfer clutch motion block, power-transfer clutch determine block, shift fork drive motor, crank two, connecting rod two and shift fork; The base of described mair motor is fixed on gear case, the output shaft fixed connection of straight gear three and mair motor; Described input shaft is bearing on gear case by bearing, and straight gear four, ratchet and power-transfer clutch are determined block and be all fixed on input shaft; Straight gear four engages with straight gear three; Pawl axis is bearing on gear case by bearing; Described ratchet is fixed on pawl axis, and engages with ratchet; One end and the ratchet of pawl restoring spring are fixed, and the other end and gear case are fixed; Described power-transfer clutch motion block and the output shaft of bouncing mechanism are by spline joint, and to determine block chimeric with power-transfer clutch; Clutch reset spring housing on output shaft, and is arranged between power-transfer clutch motion block and the inner end surface of gear case; The base of described shift fork drive motor is fixed by motor support frame and gear case, and crank two is connected on the output shaft of shift fork drive motor; The two ends of described connecting rod two are articulated with on the end of crank two and shift fork respectively; The middle part of shift fork and the bolster of motor support frame hinged, in the circular groove of the U-shaped fork embeddeding clutch motion block of shift fork.
2. a kind of bionic hopping according to claim 1 and traveling gear, is characterized in that: gear case comprises gear box casing, gear case upper cover and gear case lower cover; The two ends of described gear box casing are fixed with gear case upper cover and gear case lower cover respectively; Cover under the two ends of described motor support frame are separately fixed at gear case upper cover and gear case.
3. a kind of bionic hopping according to claim 1 and traveling gear, is characterized in that: straight gear four is 2:1 with the ratio of number of teeth of straight gear three.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410819796.3A CN104590413B (en) | 2014-12-24 | 2014-12-24 | Bionic jumping and walking mechanism |
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| CN201410819796.3A CN104590413B (en) | 2014-12-24 | 2014-12-24 | Bionic jumping and walking mechanism |
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| CN104590413A true CN104590413A (en) | 2015-05-06 |
| CN104590413B CN104590413B (en) | 2017-01-25 |
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| CN201410819796.3A Expired - Fee Related CN104590413B (en) | 2014-12-24 | 2014-12-24 | Bionic jumping and walking mechanism |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN106041978A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Carrying robot with mechanical arm capable of taking and placing materials accurately |
| CN107600217A (en) * | 2017-08-29 | 2018-01-19 | 重庆大学 | Hopping robot leg and hopping robot |
| CN107792358A (en) * | 2017-10-09 | 2018-03-13 | 东南大学 | A kind of wheel leg type runs chaser structure and flapping-wing-type robot |
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN108313158A (en) * | 2018-03-28 | 2018-07-24 | 安徽工业大学 | A kind of mobile robot and its pawl ratchet high-tension intermittent motion device |
| CN108791557A (en) * | 2018-06-13 | 2018-11-13 | 东北大学 | A kind of adjustable motor-driven of jumping degree leaps on one leg mechanism |
| CN108820065A (en) * | 2018-06-11 | 2018-11-16 | 武汉科技大学 | The locust-simulated bouncing robot that can be walked |
| CN109109997A (en) * | 2018-08-30 | 2019-01-01 | 常州大学 | A kind of Three-degree-of-freedom bionic jump pedipulator |
| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN110871858A (en) * | 2019-12-03 | 2020-03-10 | 山东大学 | Ankle joint buffer device of biped robot and single leg structure |
| CN111645774A (en) * | 2020-06-03 | 2020-09-11 | 浙江大学 | Rear-sky-turning biped robot |
| CN112426728A (en) * | 2019-08-26 | 2021-03-02 | 北京秀域科技文化股份有限公司 | Walking driving system for bird-flying equipment performance |
| CN113184171A (en) * | 2020-12-10 | 2021-07-30 | 西北工业大学 | Bionic bouncing device for flapping wing aircraft |
| CN113184170A (en) * | 2020-12-10 | 2021-07-30 | 西北工业大学 | Flapping wing aircraft |
| CN114735097A (en) * | 2022-03-15 | 2022-07-12 | 东北大学 | Bionic jumping rescue robot |
| CN114954715A (en) * | 2022-04-20 | 2022-08-30 | 浙江大学 | Deformable bouncing sliding robot |
| CN115973301A (en) * | 2022-12-22 | 2023-04-18 | 哈尔滨工业大学 | Energy-storage-adjustable frog-simulated jumping robot and motion control method |
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| CN105966483A (en) * | 2016-06-13 | 2016-09-28 | 西北工业大学 | Gear five-rod jumping ankle joint based on hydraulic driving |
| CN106041978A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Carrying robot with mechanical arm capable of taking and placing materials accurately |
| CN106041978B (en) * | 2016-07-18 | 2018-04-03 | 广东天机工业智能系统有限公司 | A kind of manipulator can accurately pick and place the transfer robot of material |
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| CN107792358A (en) * | 2017-10-09 | 2018-03-13 | 东南大学 | A kind of wheel leg type runs chaser structure and flapping-wing-type robot |
| CN107825412A (en) * | 2017-10-12 | 2018-03-23 | 广西大学 | A kind of more structure state bionic machine robot mechanisms |
| CN108313158A (en) * | 2018-03-28 | 2018-07-24 | 安徽工业大学 | A kind of mobile robot and its pawl ratchet high-tension intermittent motion device |
| CN108313158B (en) * | 2018-03-28 | 2023-07-21 | 安徽工业大学 | Mobile robot and pawl ratchet wheel high-elasticity intermittent motion device thereof |
| CN108820065B (en) * | 2018-06-11 | 2019-07-09 | 武汉科技大学 | The locust-simulated bouncing robot that can be walked |
| CN108820065A (en) * | 2018-06-11 | 2018-11-16 | 武汉科技大学 | The locust-simulated bouncing robot that can be walked |
| CN108791557A (en) * | 2018-06-13 | 2018-11-13 | 东北大学 | A kind of adjustable motor-driven of jumping degree leaps on one leg mechanism |
| CN109109997B (en) * | 2018-08-30 | 2020-10-27 | 常州大学 | Three-degree-of-freedom bionic jumping mechanical leg |
| CN109109997A (en) * | 2018-08-30 | 2019-01-01 | 常州大学 | A kind of Three-degree-of-freedom bionic jump pedipulator |
| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN112426728A (en) * | 2019-08-26 | 2021-03-02 | 北京秀域科技文化股份有限公司 | Walking driving system for bird-flying equipment performance |
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