CN105151153A - Wheel-foot hybrid mode hexapod robot moving platform - Google Patents
Wheel-foot hybrid mode hexapod robot moving platform Download PDFInfo
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- CN105151153A CN105151153A CN201510627562.3A CN201510627562A CN105151153A CN 105151153 A CN105151153 A CN 105151153A CN 201510627562 A CN201510627562 A CN 201510627562A CN 105151153 A CN105151153 A CN 105151153A
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Abstract
The invention discloses a wheel-foot hybrid mode hexapod robot moving platform. The wheel-foot hybrid mode hexapod robot moving platform comprises a main body, multi-foot moving mechanisms arranged on the two sides of the main body, and a wheel type moving mechanism arranged on the bottom surface of the main body. On the complex road condition, the multi-foot moving mechanisms move to cross obstacles; on the flat road condition, the wheel type moving mechanism moves. According to the invention, the movement mode can be selected according to the road condition, the movement ability and the environmental suitability are high, and the moving efficiency is improved. Front wheels for steering are arranged in the front of the robot moving platform. Steering engines I of front feet are used for controlling steering of the front wheels and providing steering power, and therefore the front wheels can be steered through the steering engines I of the front feet, the driving force can be reduced, the load ratio can be high and the obstacle-crossing ability can be high. The wheel-foot hybrid mode hexapod robot moving platform is suitable for the field of robots.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of wheel-leg combined type six biped robot mobile platform.
Background technology
At present, for mobile robot, mainly some complex environments usually faced, under therefore inquiring into complex environment, mobile robot's systematic research has very important theory significance and practice significance.The robot moved under complex environment faces many challenges, because complex environment presents destructuring feature, be usually difficult to go to describe obstacle feature by specific shape and parameter, landform comformability just reduces, thus causes the difficulty of mobile robot's obstacle detouring.Meanwhile, also harsher requirement is just proposed to the mobile robot under complex environment: robot will possess stronger landform adaptive capacity, Multi-type obstacles can be passed through, need from theory of mechanisms angle, research has more the barrier getting over mechanism of compatible with environment, and will ensure certain efficiency, under smooth road conditions, there is rapid movement mechanism, to save time.
Abroad just start as far back as eighties of last century six the seventies the research of mobile robot under complex environment, more representative robot mainly concentrates on following field: rescue robot, nuclear detection robot, the moon (Mars) car.The Talon robot of the U.S. adopts without the design of swing arm crawler type, and locomitivity is comparatively strong, and adaptive capacity to environment is also very strong, but its complex structure, and obstacle climbing ability is poor; The Silver search and rescue robot of Iran's design, is mainly used to rescue worker inside building ruins.This robot adopts the crawler type design of band rocking arm, is namely adding the crawler belt joint that can rotate without swing arm crawler belt both sides.; The FUMA robot of Japanese Design, camera, with mechanical arm, can be carried in one end, also can help robot obstacle detouring.Its traveling gear adopts wheel type design, and structure is simple, and it is convenient to control, and move rapidly, but in complex environment, be difficult to cross obstacle that is higher or groove class, range of use is limited; The nuclear radiation environment sniffing robot SURBOT of the 20 th century America design eighties.This robot adopts Universal wheel structure, and motion is very flexible, but very limited to the span ability of complex barrier.The Marsokhod " Sojourner " of the U.S., it adopts six to take turns rocking bar suspension type structure, and front and back four wheels adopts and independently drives and control, and locomitivity is very strong.S Design Marsokhod of new generation " Rocky-7 " afterwards, its kinematic mechanism and Sojourner are the same.
Summary of the invention
For solving the problem, the invention provides a kind of can walking in complex environment and the wheel-leg combined type six biped robot mobile platform of raising the efficiency in smooth environment.
The technical solution adopted for the present invention to solve the technical problems is: a kind of wheel-leg combined type six biped robot mobile platform, the polypody travel mechanism comprising trunk and arrange in trunk both sides, the bottom surface of trunk is provided with wheeled locomotion mechanism, polypody travel mechanism comprises front foot, mesopodium and metapedes, front foot, mesopodium and metapedes include two symmetrically arranged single leg mechanisms, each single leg mechanism is provided with the steering wheel I controlling single leg mechanism level and turn to, wheeled locomotion mechanism comprises two symmetrically arranged front-wheels, each steering wheel I correspondence of front foot connects each front-wheel also simultaneously for controlling front-wheel steering.
Be further used as the improvement of technical solution of the present invention, each single leg mechanism includes the first joint, second joint and the 3rd joint.
Be further used as the improvement of technical solution of the present invention, first joint comprises the steering wheel I that level of control turns to and the link span be connected on steering wheel I output shaft, second joint comprises the steering wheel II and connecting panel that control vertical duction, 3rd joint comprises the steering wheel III controlling vertical duction and the strut bar be fixed on steering wheel III, the other end of link span is fixed on steering wheel II, and connecting panel two ends are all connected on the output shaft of steering wheel II and steering wheel III.
Be further used as the improvement of technical solution of the present invention, each front-wheel is equipped with bracing frame, and bracing frame is provided with the attaching parts connecting and be positioned at the steering wheel II of front foot.
Be further used as the improvement of technical solution of the present invention, strut bar is provided with sole structure, and sole structure is provided with slipmat.
Be further used as the improvement of technical solution of the present invention, the output shaft end face of each steering wheel I, steering wheel II and steering wheel III is equipped with steering wheel.
Be further used as the improvement of technical solution of the present invention, front foot turns forward gradient angle, and metapedes retreats gradient angle.
Be further used as the improvement of technical solution of the present invention, wheeled locomotion mechanism comprises two symmetrically arranged trailing wheels, and each trailing wheel is all independently provided with steering wheel IV.
Be further used as the improvement of technical solution of the present invention, front-wheel and trailing wheel are two-wheel, are connected between two-wheel by wheel shaft.
Be further used as the improvement of technical solution of the present invention, trunk comprises upper plate and lower shoe, and each steering wheel I is placed between upper plate and lower shoe.
Beneficial effect of the present invention: this wheel-leg combined type six biped robot mobile platform, in trunk and the polypody travel mechanism in the setting of trunk both sides, and the wheeled locomotion mechanism that the bottom surface of trunk is arranged, the obstacle detouring under complex environment is made to adopt polypody travel mechanism motion obstacle detouring, under smooth environment, adopt wheeled locomotion mechanism to move, mode of motion can be selected according to road conditions, there is extremely strong locomitivity and compatible with environment, improve mobile efficiency.The front-wheel turned to is arranged on front side of robot, and each steering wheel I of front foot, for controlling front-wheel steering, provides steering power, makes front-wheel use leg steering wheel I and turns to, decrease propulsive effort, and make California bearing ratio large, obstacle climbing ability is strong simultaneously.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described:
Fig. 1 is embodiment of the present invention integral structure schematic diagram;
Fig. 2 is the embodiment of the present invention is wheel type mobile view;
Fig. 3 is the composite structure schematic diagram of embodiment of the present invention front-wheel and front foot;
Fig. 4 is embodiment of the present invention trailing wheel schematic diagram.
Detailed description of the invention
With reference to Fig. 1 ~ Fig. 4, the present invention is a kind of wheel-leg combined type six biped robot mobile platform, the polypody travel mechanism 2 comprising trunk 1 and arrange in trunk 1 both sides, the bottom surface of trunk 1 is provided with wheeled locomotion mechanism 3, polypody travel mechanism 2 comprises front foot, mesopodium and metapedes, front foot, mesopodium and metapedes include two symmetrically arranged single leg mechanisms 21, each single leg mechanism 21 is provided with the steering wheel I 41 controlling single leg mechanism 21 level and turn to, wheeled locomotion mechanism 3 comprises two symmetrically arranged front-wheels 31, each steering wheel I 41 correspondence of front foot connects each front-wheel 31 and turns to for controlling front-wheel 31 simultaneously.
This wheel-leg combined type six biped robot mobile platform, in trunk 1 and the polypody travel mechanism 2 in the setting of trunk 1 both sides, and the wheeled locomotion mechanism 3 that the bottom surface of trunk 1 is arranged, the obstacle detouring under complex environment is made to adopt polypody travel mechanism 2 motion obstacle detouring, under smooth environment, adopt wheeled locomotion mechanism 3 to move, mode of motion can be selected according to road conditions, there is extremely strong locomitivity and compatible with environment, improve mobile efficiency.The front-wheel 31 turned to is arranged on front side of robot, and each steering wheel I 41 of front foot turns to for controlling front-wheel 31, provides steering power, makes front-wheel 31 use leg steering wheel I 41 and turns to, decrease propulsive effort, and make California bearing ratio large, obstacle climbing ability is strong simultaneously.
As the preferred embodiment of the present invention, each single leg mechanism 21 includes the first joint 211, second joint 212 and the 3rd joint 213.
As the preferred embodiment of the present invention, first joint 211 comprises the steering wheel I 41 that level of control turns to and the link span 6 be connected on steering wheel I 41 output shaft, second joint 212 comprises the steering wheel II 42 and connecting panel 7 that control vertical duction, 3rd joint 213 comprises the steering wheel III 43 controlling vertical duction and the strut bar 8 be fixed on steering wheel III 43, the other end of link span 6 is fixed on steering wheel II 42, and connecting panel 7 two ends are all connected on the output shaft of steering wheel II 42 and steering wheel III 43.
Connecting panel 7 is doubly-linked fishplate bar.
As the preferred embodiment of the present invention, each front-wheel 31 is equipped with bracing frame 32, and bracing frame 32 is provided with the attaching parts 33 connecting and be positioned at the steering wheel II 42 of front foot.
Use thrust baring between bracing frame 32 and lower shoe, bracing frame 32 and steering wheel I 41 rear axle are screwed and are integrated.Bracing frame 32 is connected with steering wheel II 42 by attaching parts 33, adds large driving force.
As the preferred embodiment of the present invention, strut bar 8 is provided with sole structure 9, and sole structure 9 is provided with slipmat 91.
Sole structure 9 is designed to integrative-structure, and upper end is that hollow cylinder beats screw, is connected with attaching parts, and lower end is that Circular plate structure convenience and slipmat 91 bond, and strengthens between hollow cylinder and plectane with floor.
As the preferred embodiment of the present invention, the output shaft end face of each steering wheel I 41, steering wheel II 42 and steering wheel III 43 is equipped with steering wheel 5.
As the preferred embodiment of the present invention, front foot turns forward 30 degree of angles, and metapedes tilts backwards 30 degree of angles.
As the preferred embodiment of the present invention, wheeled locomotion mechanism 3 comprises two symmetrically arranged trailing wheels 34, and each trailing wheel 34 is all independently provided with steering wheel IV 44.
Trailing wheel 34 comprises between steering wheel fixed mount and lower shoe to be fixed by 4 stud bolts, to regulate the height of suitable trailing wheel steering wheel IV 44; Two steering wheels IV 44 do driving steering wheel, drive trailing wheel 34 to do driving wheel.
As the preferred embodiment of the present invention, front-wheel 31 and trailing wheel 34 are two-wheel, are connected between two-wheel by wheel shaft.
Double wheel design reduces pressure.Front-wheel 31 and trailing wheel 34 also adopt two modes of taking turns superposition to reduce pressure, each steering wheel and all connecting with coupler between front-wheel 31 and trailing wheel 34.
As the preferred embodiment of the present invention, trunk 1 comprises upper plate 11 and lower shoe 12, and each steering wheel I 41 is placed between upper plate 11 and lower shoe 12.
Trunk 1 is expendable weight employing aluminum alloy materials.For proof strength, centre is connected by floor 13.
From in Fig. 1 and Fig. 2, this wheel-leg combined type six biped robot mobile platform is included in torso portion, six legs and four wheels.Torso portion comprises upper and lower two base plates, for expendable weight adopts aluminum alloy materials.For proof strength, centre is connected to gain in strength by floor 13.Article six, leg mechanism is identical, and bilateral symmetry is installed, and all have three degree of freedom, have three joints, each joint is driven by a steering wheel, increases bearing capacity as far as possible, also comprises the link span and strut bar that connect each steering wheel, adds thigh length, be more conducive to obstacle detouring; Be symmetrically arranged in robot body both sides, front foot is inclined 30 degree of angles forward, and metapedes, towards retrodeviating 30 degree of angles, ensures scope of more doing more physical exercises.The walking of foot formula is suitable for the obstacle detouring under complex road condition.Four wheels comprise bilateral symmetry and install two drive wheels and two wheel flutters.Wheel flutter is arranged on front side of robot, and the first two wheel and leg compound, provide steering power by front foot first joint steering wheel, running on wheels advances under being suitable for flat road surface fast.Latter two is taken turns and does drive wheel separately, and drive wheel is arranged on rear side of robot, provides power by 360 degree of continuous rotation steering wheels.
Single leg mechanism 21 is the arrangement of steering wheel I 41, steering wheel II 42 and steering wheel III 43, uses link span 6 between steering wheel I 41, steering wheel II 42.The connection mode of the employing doubly-linked fishplate bar between steering wheel II 42 and steering wheel III 43, the steering wheel of respectively with two steering wheels is connected with screw.Have specially designed sole structure 9 and attaching parts thereof at leg end, the sole of particular design increases Area of bearing, reduces pressure, also increases friction force simultaneously, reduces and slides.
Single leg mechanism 21 of front-wheel and front foot is composite structure, reduce propulsive effort, front-wheel 31 comprises rubber wheel, wheel shaft, sleeve, bearing, thrust baring, bracing frame 32, and with the first joint end connectors 33; Sleeve prevents wheel from sliding at wheel direction of principal axis, connects between wheel shaft and bracing frame with bearing.With thrust baring between bracing frame and lower shoe, bracing frame and steering wheel rear axle are screwed and are integrated.Bracing frame is connected by attaching parts with steering wheel attaching parts, adds large driving force.Trailing wheel independently does drive wheel, increases propulsive effort, comprises rubber wheel, wheel shaft, sleeve, connecting stud, steering wheel fixed mount, trailing wheel link span.Fixed by stud bolt between steering wheel fixed mount and lower shoe, to regulate suitable trailing wheel steering wheel height.Two steering wheels of trailing wheel do driving steering wheel, and trailing wheel does driving wheel, and trailing wheel link span is connected with lower shoe screw, are D profile shaft between trailing wheel link span and trailing wheel, also utilize bearing to connect; Front-wheel and trailing wheel all adopt rubber wheel, adopt two modes of taking turns superposition to reduce pressure; Connect with wheel shaft between two-wheel, comprise sleeve and prevent wheel from sliding at wheel direction of principal axis, connect with coupler between steering wheel and wheel.
Under obstacle detouring pattern, six legs are propped up, and four-wheel does not land.The required position of steering wheel I 41 rotation of the first joint of four legs in front and back, then second joint place steering wheel II 42 rotates, make second joint downward bias certain angle, the steering wheel III 43 of the 3rd joint turns an angle and makes strut bar 8 straight down, and sole structure 9 is landed.After energising, each steering wheel has certain moment to support health, and four-wheel is lifted.Then according to different gait plannings, leg three joints relatively rotate, thus make leg configuration difference just can cross different obstacles.By making the control of each steering wheel to land, leg and free leg can cooperation, thus can cross the unstructured moving grids of various complexity.Article six, totally 18 joints are separate respectively a servos control for leg, and alerting ability is high.
In time running into smooth environment and utilize wheel to move.First joint steering wheel I 41 of front-wheel rotates, and rotates the direction vertical with working direction, ensures front-wheel toward the front.Then second joint place steering wheel II 42 rotates and platform and integrally is declined, four wheels is landed, and when then the steering wheel of second joint and the 3rd joint rotates, leg upwards lifts inwards as Fig. 2, and then the steering wheel IV 44 of trailing wheel rotates, drive rear wheel, drive platform to advance.Simultaneously due to front-wheel and front foot compound as a whole, the steering wheel I of leg first joint rotates the direction that can control front-wheel, thus changes working direction.
Certainly, the invention is not limited to above-mentioned embodiment, those of ordinary skill in the art also can make equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (10)
1. a wheel-leg combined type six biped robot mobile platform, it is characterized in that: the polypody travel mechanism (2) comprising trunk (1) and arrange in described trunk (1) both sides, the bottom surface of described trunk (1) is provided with wheeled locomotion mechanism (3), described polypody travel mechanism (2) comprises front foot, mesopodium and metapedes, described front foot, mesopodium and metapedes include two symmetrically arranged single leg mechanisms (21), each described single leg mechanism (21) is provided with the steering wheel I (41) controlling single leg mechanism (21) level and turn to, described wheeled locomotion mechanism (3) comprises two symmetrically arranged front-wheels (31), each steering wheel I (41) correspondence of described front foot connects each front-wheel (31) and turns to for controlling front-wheel (31) simultaneously.
2. wheel-leg combined type six biped robot mobile platform according to claim 1, is characterized in that: each described single leg mechanism (21) includes the first joint (211), second joint (212) and the 3rd joint (213).
3. wheel-leg combined type six biped robot mobile platform according to claim 2, it is characterized in that: described first joint (211) comprises the steering wheel I (41) that level of control turns to and the link span (6) be connected on steering wheel I (41) output shaft, described second joint (212) comprises the steering wheel II (42) and connecting panel (7) that control vertical duction, described 3rd joint (213) comprises the steering wheel III (43) controlling vertical duction and the strut bar (8) be fixed on steering wheel III (43), the other end of described link span (6) is fixed on steering wheel II (42), described connecting panel (7) two ends are all connected on the output shaft of steering wheel II (42) and steering wheel III (43).
4. wheel-leg combined type six biped robot mobile platform according to claim 3, it is characterized in that: each described front-wheel (31) is equipped with bracing frame (32), support frame as described above (32) is provided with the attaching parts (33) connecting and be positioned at the steering wheel II (42) of front foot.
5. wheel-leg combined type six biped robot mobile platform according to claim 3, is characterized in that: described strut bar (8) is provided with sole structure (9), and described sole structure (9) is provided with slipmat (91).
6. wheel-leg combined type six biped robot mobile platform according to claim 3, is characterized in that: the output shaft end face of each described steering wheel I (41), steering wheel II (42) and steering wheel III (43) is equipped with steering wheel (5).
7. wheel-leg combined type six biped robot mobile platform as claimed in any of claims 1 to 6, is characterized in that: described front foot turns forward 30 degree of angles, and described metapedes tilts backwards 30 degree of angles.
8. wheel-leg combined type six biped robot mobile platform as claimed in any of claims 1 to 6, it is characterized in that: described wheeled locomotion mechanism (3) comprises two symmetrically arranged trailing wheels (34), each described trailing wheel (34) is all independently provided with steering wheel IV (44).
9. wheel-leg combined type six biped robot mobile platform according to claim 8, is characterized in that: described front-wheel (31) and trailing wheel (34) are two-wheel, are connected between described two-wheel by wheel shaft.
10. wheel-leg combined type six biped robot mobile platform according to claim 1, it is characterized in that: described trunk (1) comprises upper plate (11) and lower shoe (12), each described steering wheel I (41) is placed between upper plate (11) and lower shoe (12).
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| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN106741286A (en) * | 2017-01-12 | 2017-05-31 | 南京理工大学 | Five sufficient bionic machine robot mechanisms |
| CN106828651A (en) * | 2017-01-20 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | A kind of sufficient kinematic robot of deformable wheel |
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| CN110371211A (en) * | 2019-07-08 | 2019-10-25 | 浙江大学 | A kind of sufficient suitching type omni-directional mobile robots of wheel |
| CN110481670A (en) * | 2019-08-26 | 2019-11-22 | 西安电子科技大学 | A kind of hybrid hexapod robot of wheel leg |
| CN110789632A (en) * | 2019-11-11 | 2020-02-14 | 深圳市智擎新创科技有限公司 | Four-foot wheeled robot |
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| CN112706851A (en) * | 2020-12-24 | 2021-04-27 | 广州市威控机器人有限公司 | Slidable wheel-foot robot and control method thereof |
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| CN113830195A (en) * | 2021-09-30 | 2021-12-24 | 西安文理学院 | Multifunctional foot-variable robot |
| CN113998028A (en) * | 2021-12-22 | 2022-02-01 | 成都理工大学 | Two-degree-of-freedom base joint structure of foot type robot |
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| CN105865269A (en) * | 2016-04-19 | 2016-08-17 | 滨州学院 | Invasive four-legged wheel type robot |
| WO2017181311A1 (en) * | 2016-04-19 | 2017-10-26 | 滨州学院 | Assault robot having four wheel-legs |
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| CN106627830A (en) * | 2017-01-17 | 2017-05-10 | 吴逸帆 | Wheeled-leg hybrid mobile robot |
| CN106828651B (en) * | 2017-01-20 | 2019-04-23 | 哈尔滨工业大学深圳研究生院 | A kind of sufficient kinematic robot of deformable wheel |
| CN106828651A (en) * | 2017-01-20 | 2017-06-13 | 哈尔滨工业大学深圳研究生院 | A kind of sufficient kinematic robot of deformable wheel |
| CN109747727A (en) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | A kind of modularization robot shipping platform of electric cylinder driving |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108189925A (en) * | 2018-02-06 | 2018-06-22 | 南京理工大学 | More multi-functional fighter robots of landform |
| CN108189925B (en) * | 2018-02-06 | 2023-08-18 | 南京理工大学 | Multi-terrain multifunctional fighter robot |
| CN111766877A (en) * | 2018-06-27 | 2020-10-13 | 北京航空航天大学 | Robot |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN109911052B (en) * | 2019-03-18 | 2024-04-30 | 华南理工大学 | Wheel leg type multi-mode inspection search and rescue robot |
| CN109911052A (en) * | 2019-03-18 | 2019-06-21 | 华南理工大学 | A kind of wheel leg type multi-mode inspection search and rescue robot |
| CN109927808A (en) * | 2019-04-19 | 2019-06-25 | 中国民航大学 | A kind of caterpillar four-footed robot dog of collaboration |
| CN109927808B (en) * | 2019-04-19 | 2024-04-12 | 中国民航大学 | Collaborative crawler-type quadruped robot dog |
| CN110371211A (en) * | 2019-07-08 | 2019-10-25 | 浙江大学 | A kind of sufficient suitching type omni-directional mobile robots of wheel |
| CN110481670A (en) * | 2019-08-26 | 2019-11-22 | 西安电子科技大学 | A kind of hybrid hexapod robot of wheel leg |
| CN110789632A (en) * | 2019-11-11 | 2020-02-14 | 深圳市智擎新创科技有限公司 | Four-foot wheeled robot |
| CN112406436A (en) * | 2020-12-03 | 2021-02-26 | 复旦大学 | Air-ground dual-purpose composite robot |
| CN112706851A (en) * | 2020-12-24 | 2021-04-27 | 广州市威控机器人有限公司 | Slidable wheel-foot robot and control method thereof |
| CN112896358A (en) * | 2021-03-30 | 2021-06-04 | 郑州宇通重工有限公司 | Wheel-foot composite equipment and hydraulic drive control system thereof |
| CN113830195A (en) * | 2021-09-30 | 2021-12-24 | 西安文理学院 | Multifunctional foot-variable robot |
| CN113998028A (en) * | 2021-12-22 | 2022-02-01 | 成都理工大学 | Two-degree-of-freedom base joint structure of foot type robot |
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