CN105292296A - Bionic running four-leg robot - Google Patents
Bionic running four-leg robot Download PDFInfo
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- CN105292296A CN105292296A CN201510690265.3A CN201510690265A CN105292296A CN 105292296 A CN105292296 A CN 105292296A CN 201510690265 A CN201510690265 A CN 201510690265A CN 105292296 A CN105292296 A CN 105292296A
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Abstract
The invention discloses a bionic running four-leg robot, comprising legs, a front shoulder beam, a rear shoulder beam and a spine, wherein two ends of the spine are respectively fixed in the middles of the front shoulder beam and the rear shoulder beam, and the legs are respectively connected with the front shoulder beam and the rear shoulder beam; the lower part of the front shoulder part is fixedly connected with one end of a support plate located at the lower part of the spine, the other end of the support plate is suspended and is in cantilever beam shape, an electric motor is fixedly arranged on the support plate, the output shaft of the electric motor is fixedly connected with one end of a second connecting rod, the other end of the second connecting rod is hinged with one end of a first connecting rod, the other end of the first connecting rod is hinged with a waist sliding block fixed on the spine, and the waist sliding block passes through a vertically-arranged cylindrical guide rail with lower end fixed on the support plate; the electric motor drives the second connecting rod to rotate so as to drive the first connecting rod to rotate and further pull the waist sliding block to vertically slide along the cylindrical guide rail; and since the waist sliding block is fixedly connected with the spine, and the middle of the spine is in a lamina form and has flexibility, the vertical sliding of the waist sliding block drives the spine to vertically and synchronously bend along the vertical direction.
Description
Technical field
The present invention relates to a kind of robot, especially a kind of bionical quadruped robot of running.
Background technology
At present, quadruped robot adopts rigidity housing construction mostly, during robot motion, there is body attitude not steadily and the problem such as ground shock power is large, jump cannot be met, the high-speed motion such as to run, can not at the ground stabilized walking of injustice, for overcoming above-mentioned deficiency, improving the dynamic property of quadruped robot, being starved of a kind of submissive quadruped robot with flexible waist and elastic leg of design.Quadruped robot body trunk needs the degree of freedom with pitching.Leg is flexible.
Chinese patent application: 201110196221.7 disclose a kind of submissive quadruped robot with flexible waist and elastic leg.Be divided into several parts such as the leg that front trunk, backbone, waist, rear trunk and four structures are identical; Bearing in front trunk or afterwards trunk and the flanged shaft on each bar leg are formed rotates, front trunk connects with backbone revolute pair, driven by motor and gear cluster, robot health is made to have the degree of freedom of pitching, backbone connects with the revolute pair of waist with torsion spring, robot health is made to have roll degree of freedom, waist and rear trunk also connect by the revolute pair with torsion spring, robot health is made to have deflection degree of freedom, robot leg is made up of thigh, shank, all driven by motor and gear cluster, shank is equipped with stage clip.This application structure of patent is comparatively complicated, and cost of manufacture is high, and driving is many, and energy consumption is high.
The Chinese patent application 201410520580.7 of applicant's application discloses a kind of bionical quadruped robot, comprise leg, crop beam, back porch beam, front vertebra and rear vertebra, front vertebra and rear vertebra composition vertebra, leg comprises two pairs, front and back leg, two pairs of legs are connected with back porch beam with crop beam respectively by the hip joint with pitching and side-sway two degree of freedom, front vertebra one end is that cantilever beam-like level is fixed in the middle part of crop beam, and the other end and rear vertebra are actively coupled, and rear vertebra is fixed on back porch beam; Every one leg is all thigh and shank integral structure, and thigh is rigid plate, and knee and shank are made up of resilient steel plate; The rear end of front vertebra is in slightly wide oblong, and this oblong center is provided with a through hole, is provided with rubber ring in through hole, and the rear end of front vertebra is connected with rear vertebra through the long pin shaft of rubber ring and nut by one, and has gap between long pin shaft and rubber ring; Front vertebra rear end is fixed with the pin that four, upper and lower, left and right outwards freely pass rear vertebra framework respectively, and on each pin, all cover has spring.The vertebra of this patent and leg flexibility, inconvenience controls, and stability of motion has much room for improvement.
Summary of the invention
The object of the invention is for overcoming above-mentioned the deficiencies in the prior art, providing a kind of bionical quadruped robot of running, this robot balance is easy to adjustment, vertebra and leg flexible, stability of motion is good, reduces the impact of robot.
For achieving the above object, the present invention adopts following technical proposals:
A kind of bionical quadruped robot of running, comprise leg, crop beam, back porch beam, vertebra, waist slide block and cylindrical guide, vertebra two ends are individually fixed in the middle part of crop beam and back porch beam, and leg is connected with forward and backward shoulder beam respectively;
Crop beam bottom is fixedly connected with the stay bearing plate one end being positioned at vertebra bottom, the stay bearing plate other end is unsettled in cantilever beam-like, stay bearing plate is installed with electrical motor, motor output shaft is fixedly connected with second connecting rod one end, one end of the second connecting rod other end and first connecting rod is hinged, the other end of first connecting rod is with to be fixed on supraspinal waist slide block hinged, and waist slide block is fixed on the cylindrical guide that stay bearing plate is vertically arranged through lower end;
Electrical motor, first connecting rod, second connecting rod, waist slide block, cylindrical guide and stay bearing plate together constitute a slider-crank mechanism, electrical motor drives second connecting rod to rotate, thus drive first connecting rod motion, and then haul waist slide block and do vertical slip along cylindrical guide, because waist slide block is fixedly connected with vertebra, be sheet-type in the middle part of vertebra, have flexibility, sliding up and down of waist slide block drives vertebra vertically synchronously to bend up and down;
When quadruped robot is run, keep synchronous as long as regulate the foreleg of leg to protract and stretch after back leg to be bent downwardly with vertebra, stretching after foreleg protracts with back leg keeps synchronous with vertebra K/UP.
Have square groove in the middle part of described vertebra, waist slide block is arranged in groove, and waist slide block one end is secured by bolts on vertebra.
Two manholes passed for cylindrical guide are had in described waist slide block.
Described waist slide block bottom is set to circular protrusions, and has in circular protrusions for the circular hole hinged with first connecting rod.
Described leg comprises foreleg and back leg, foreleg and back leg include thigh, shank, foreleg foot end and back leg foot end, thigh upper end is connected with back porch beam with crop beam respectively by the hip joint with pitch freedom, thigh lower end and shank upper end thereof, shank lower end is held with forward and backward leg foot respectively and is fixedly connected with.
The foot end of described foreleg comprises the front foot end cylinder body in cylindrical shape, described front foot end cylinder base is sphere, central upper portion place has a first downward blind hole, front foot end cylinder body top is provided with the first end cap, the shank bottom bar of foreleg vertically extend in the first blind hole through the first end cap, be on the shank in the first blind hole and be provided with outside horizontal-extending boss, the first spring be enclosed within shank is provided with between boss and the first end cap, the mud of thickness is filled with in first blind hole of boss bottom, and in robot kinematics, space is had between boss lower surface and the mud of thickness.
The upper and lower end of described first spring respectively correspondence is fixed on the first end cap lower surface and boss upper surface.
The foot end of described back leg comprises the metapedes end cylinder body in cylindrical shape, described metapedes end cylinder base is sphere, central upper portion place has a second downward blind hole, metapedes end cylinder body top is provided with the second end cap, the shank bottom bar of back leg vertically extend in the second blind hole through the second end cap, the shank end be in the second blind hole is provided with the disc pressing plate of outside horizontal-extending, is provided with the second spring be enclosed within shank between pressing plate and the second end cap; Pressing plate center is provided with a blind hole upwards extended along shank center, and the top of blind hole has a through hole communicated with the external world, and through hole is in the top of the second end cap all the time; Be filled with water in second blind hole of pressing plate bottom, portion waterborne is placed with inflation annulus.
The upper and lower end of described second spring is corresponding to be respectively fixed on the upper surface of the second end cap lower surface and pressing plate.
Described thigh upper and lower side is connected on forward and backward shoulder beam respectively by first, second hydraulic actuating cylinder, and the thigh first half one projecting point is articulated with on forward and backward shoulder beam.Thigh and forward and backward shoulder beam junction are hip joint.
Described shank and thigh lower end hinged, the bottom bar of shank is held with foot and is fixedly connected with.
The present invention mainly comprises leg, crop beam, back porch beam, vertebra, waist slide block and cylindrical guide.Vertebra is one piece of thin plate, its one end is fixed in the middle part of crop beam, the other end is fixed on back porch beam, square groove is had in the middle part of vertebra, waist slide block is fixed on vertebra, has two manholes in the middle part of waist slide block, passes for two cylindrical guides, the circular protrusions of waist slide block bottom has circular hole, for waist slide block and first connecting rod hinged.Two cylindrical guide lower ends are fixed on stay bearing plate.First connecting rod and second connecting rod one end hinged, the other end of second connecting rod is connected by key with motor reel.Electrical motor is fixed on stay bearing plate.Stay bearing plate is cantilever beam-like, and one end is fixed on crop beam bottom.
Thigh and shank, thigh and shoulder beam and leg and hydraulic actuating cylinder are all hinged.Hydraulic actuating cylinder two ends are all bolted splice.Hip joint place and knee joint place are hinged.
Electrical motor, first connecting rod, second connecting rod, waist slide block, cylindrical guide and stay bearing plate together constitute a slider-crank mechanism, the key that rotates through of motor reel connects the rotation of drive second connecting rod, thus drive first connecting rod motion, and then haul waist slide block and do vertical slip along cylindrical guide, because waist slide block is fixedly connected with vertebra, be sheet-type in the middle part of vertebra, there is certain flexibility, so sliding up and down of waist slide block drives vertebra vertical direction to bend up and down.
When quadruped robot is run, keep synchronous as long as regulate foreleg to protract and stretch to be bent downwardly with vertebra after back leg, stretching after foreleg protracts with back leg keeps synchronous with vertebra K/UP.
The present invention is the bionical quadruped robot of running with flexible waist and elastic leg, mainly uses bionics principle, copys the motion trunk structure of animal, has good kinematic dexterity.Quadruped robot body trunk has the degree of freedom of pitching, and leg is flexible.The present invention adopts compliant mechanism to substitute traditional rigid construction, and robot balance is easy to adjustment, increases the stability of motion of robot, reduces the impact of robot.
Accompanying drawing explanation
Fig. 1 is the front view of one embodiment of the invention;
Fig. 2 is the birds-eye view of an embodiment;
Fig. 3 is the foreleg foot end structure front view of an embodiment;
Fig. 4 is the foreleg foot end structure birds-eye view of an embodiment;
Fig. 5 is the back leg foot end structure front view of an embodiment;
Fig. 6 is the back leg foot end structure left view of an embodiment;
Fig. 7 is the back leg foot end structure birds-eye view of an embodiment;
Wherein 1. foreleg foot ends, 2. shank, 3. thigh, 4 the one, bolts, 5. the second bolt, 6. the 3rd bolt, 7. the second hydraulic actuating cylinder, 8. the 4th bolt, 9. the 5th bolt, 10. the 6th bolt, 11. the 7th bolts, 12. cylindrical guides, 13. waist slide blocks, 14. the 8th bolts, 15. the 9th bolts, 16. keys, 17. the tenth bolts, 18 first nuts, 19. the 11 bolts, 20. first hydraulic actuating cylinders, 21. crop beams, 22. vertebras, 23. back porch beams, 24. the 12 bolts, 25. the 13 bolts, 26. first connecting rods, 27. second connecting rods, 28. electrical motors, 29. stay bearing plates, 30. nuts, 31. back leg foot ends, shank bottom bar before 32., 33. first end caps, 34. first springs, 35. shank lower end boss, 36. mud, 37. front foot end cylinder bodies, 38. screws, 39. gaskin bottom bar, 40. second end caps, 41. second springs, 42. inflation annulus, 43. water, 44. metapedes end cylinder bodies.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figure 1 and Figure 2, bionical quadruped robot of running, mainly comprises leg, crop beam 21, back porch beam 23, vertebra 22, waist slide block 13 and cylindrical guide 12 and forms.Vertebra 22 is one piece of thin plate, its one end is fixed in the middle part of crop beam 21 by the 11 bolt 19, the other end is fixed on back porch beam 23 by the 12 bolt 24, square groove is had in the middle part of vertebra 22, waist slide block 13 is fixed on vertebra 22 by the 13 bolt 25, has two manholes in the middle part of waist slide block, passes for two cylindrical guides 12, the circular protrusions of waist slide block bottom has circular hole, passes through the 8th bolt 14 hinged for waist slide block and first connecting rod 26.There is screw thread two cylindrical guide 12 lower ends, are fixed on stay bearing plate 29 by nut 30.First connecting rod 26 is hinged with second connecting rod 27 one end by the 9th bolt 15, and the other end of second connecting rod 27 is connected by key 16 with electrical motor 28 axle.Electrical motor 28 is fixed on stay bearing plate 29 by bolt 17, nut 18.Stay bearing plate 29 is in cantilever beam-like, and one end is fixed on crop beam bottom by the 5th bolt 9.
Leg comprises thigh 3, shank 2, foreleg foot end 1 and back leg foot end 31, thigh 3 upper end is connected with back porch beam 23 with crop beam 21 respectively by the hip joint with pitch freedom, thigh 3 lower end and shank 2 upper end thereof, shank 2 lower end vertically stretch out one section of bar hold with foreleg foot respectively 1 and back leg enough hold 31 to be connected; Thigh 3 and shank 2, thigh 3 and shoulder beam and leg and hydraulic actuating cylinder are all hinged.Hydraulic actuating cylinder two ends are all bolted splice.Hip joint place and knee joint place are hinged.
Thigh 3 upper and lower side is connected on forward and backward shoulder beam 21,23 respectively by first, second hydraulic actuating cylinder 20,7, and the thigh first half one projecting point is articulated with on forward and backward shoulder beam 21,23 by the second bolt 5.The upper and lower side of the first hydraulic actuating cylinder 20 is respectively by the 6th, the 7th bolt 10,11 and thigh upper end and forward and backward shoulder beam 21,23 hinged.
Second hydraulic actuating cylinder 7 upper end is articulated with on crop beam 21, back porch beam 23 by the 4th bolt 8, and lower end is hinged with shank upper end extension rod by the 3rd bolt 6, and the first bolt 4 is articulated with thigh lower end and shank upper end.
The lower end of shank 2 is held with forward and backward leg foot and is fixedly connected with.
Electrical motor 28, first connecting rod 26, second connecting rod 27, waist slide block 13, cylindrical guide 12 and stay bearing plate 29 together constitute a slider-crank mechanism, the key connection that rotates through of motor reel drives second connecting rod 27 to rotate, thus drive first connecting rod 26 to move, and then haul waist slide block 13 and do vertical slip along cylindrical guide 12, because waist slide block is fixedly connected with vertebra 22, it is sheet-type in the middle part of vertebra 22, there is certain flexibility, so sliding up and down of waist slide block drives vertebra vertical direction to bend up and down.
When quadruped robot is run, keep synchronous as long as regulate foreleg to protract and stretch to be bent downwardly with vertebra after back leg, stretching after foreleg protracts with back leg keeps synchronous with vertebra K/UP.
As shown in Figure 3, Figure 4, foreleg foot end 1 is made up of front shank bottom bar 32, first end cap 33, first spring 34, shank lower end boss 35, mud 36, front foot end cylinder body 37, screw 38.
The bottom of front shank bottom bar 32 is designed to disc shaped boss 35, is used for placing and traction the first spring 34, and boss 35 still stretches out the cylindrical bar of certain length below.Front foot end cylinder body 37 Shi Yige center has the cylinder of blind hole, is spheric bottom it, along the circumferential direction evenly has three screw holes at front foot end cylinder body upper surface.First end cap 33 along the circumferential direction evenly has three counterbores, is screwed into for screw 38.First spring 34 upper end and the first end cap 33 weld together, lower end and shank lower end boss 35 weld together.
Thick mud 36 is put into bottom front foot end cylinder body 37; Then, first spring 34 one end is welded in shank lower end boss 35 upper surface, and the first end cap 33 is enclosed within front shank bottom bar 32, first spring 34 other end is welded in the first end cap 33 lower surface; Cylinder body 37 is held to link together with foot the first end cap 33 with three screws 38.
When foreleg foot end pedals ground, front shank bottom bar 32 moves down, now front shank bottom bar 32 bottom cylinder slowly enters thick mud 36, simultaneously shank lower end boss 35 draws the first spring 34 tensile deformation occurs, and the tensile deformation of the first spring 34 and the dumping force of thick mud 36 pairs of cylindrical bars all serve buffer action.Have enough spaces between boss 35 lower surface and mud surface, motion process can not come in contact.When foreleg foot end leaves ground, foot end disappears by the antagonistic force on ground, and the first spring 34 restores to the original state, and shank lower end cylinder moves simultaneously and leaves mud 36, returns to initial state.
As shown in Figure 5-Figure 7, back leg foot end 31 is made up of gaskin bottom bar 39, second end cap 40, second spring 41, inflation annulus 42, water 43, metapedes end cylinder body 44, screw 38.
The bottom of gaskin bottom bar 39 is designed to disc shaped pressing plate, pressing plate outside face and the moving contact of metapedes end cylinder body 44 inwall, the blind hole that there is a segment length shank bottom bar inside is led at pressing plate center, leads to outside face have small through hole in blind hole upper end, so that ventilative.Metapedes end cylinder body 44 Shi Yige center has the cylinder of blind hole, is spheric bottom it, along the circumferential direction evenly has three screw holes at foot end cylinder body upper surface.Second end cap 40 along the circumferential direction evenly has three counterbores, is screwed into for screw 38.Second spring 41 upper end and the second end cap 40 weld together, the pressing plate weld together of lower end and gaskin bottom bar 39.Inflation annulus 42 contacts with water 43 upper surface under the pressing plate of gaskin bottom bar 39.
First, water 43 is poured in the blind hole of metapedes end cylinder body 44; Then, inflation annulus 42 is put into metapedes end cylinder body 44 to contact with water 43; Secondly, second spring 41 one end is welded in the pressing plate upper surface of gaskin bottom bar 39, and the second end cap 40 is enclosed within gaskin bottom bar 39, second spring 41 other end is welded in the second end cap 40 lower surface; Finally the second end cap 40, second spring 41 of welding, gaskin bottom bar 39 are placed on metapedes end cylinder body 44 together, make the screw counter bore on the second end cap 40 corresponding with the screw hole that metapedes end cylinder body 44 upper surface is offered respectively, and connect together with screw 38.
When back leg foot end pedals ground, gaskin bottom bar 39 moves down, now inflation annulus 42 is squeezed and immerses water 43, simultaneously end clamp plate draws the second spring 41 tensile deformation occurs under gaskin, the buoyancy that the tensile deformation of the second spring 41 and inflation annulus 42 are subject to when immersing water 43 all serves buffer action, when inflating annulus 42 and being extruded into the bottom of water, inflation annulus 42 pressurized also plays buffer action.Water 43 is squeezed, and part water enters the blind hole bottom gaskin bottom bar.When back leg foot end leaves ground, foot end disappears by the antagonistic force on ground, and the second spring 41 restores to the original state, and inflation annulus 42 floats in water 43, returns to initial state.
By reference to the accompanying drawings the specific embodiment of the present invention is described although above-mentioned; but not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection scope of the present invention.
Claims (10)
1. a bionical quadruped robot of running, is characterized in that, comprise leg, crop beam, back porch beam, vertebra, waist slide block and cylindrical guide, vertebra two ends are individually fixed in the middle part of crop beam and back porch beam, and leg is connected with forward and backward shoulder beam respectively;
Crop beam bottom is fixedly connected with the stay bearing plate one end being positioned at vertebra bottom, the stay bearing plate other end is unsettled in cantilever beam-like, stay bearing plate is installed with electrical motor, motor output shaft is fixedly connected with second connecting rod one end, one end of the second connecting rod other end and first connecting rod is hinged, the other end of first connecting rod is with to be fixed on supraspinal waist slide block hinged, and waist slide block is fixed on the cylindrical guide that stay bearing plate is vertically arranged through lower end;
Electrical motor, first connecting rod, second connecting rod, waist slide block, cylindrical guide and stay bearing plate together constitute a slider-crank mechanism, electrical motor drives second connecting rod to rotate, thus drive first connecting rod motion, and then haul waist slide block and do vertical slip along cylindrical guide, because waist slide block is fixedly connected with vertebra, be sheet-type in the middle part of vertebra, have flexibility, sliding up and down of waist slide block drives vertebra vertically synchronously to bend up and down;
When quadruped robot is run, keep synchronous as long as regulate the foreleg of leg to protract and stretch after back leg to be bent downwardly with vertebra, stretching after foreleg protracts with back leg keeps synchronous with vertebra K/UP.
2. bionical quadruped robot of running as claimed in claim 1, it is characterized in that, have square groove in the middle part of described vertebra, waist slide block is arranged in groove, and waist slide block one end is secured by bolts on vertebra.
3. bionical quadruped robot of running as claimed in claim 1, is characterized in that, have two manholes passed for cylindrical guide in described waist slide block.
4. bionical quadruped robot of running as claimed in claim 1, it is characterized in that, described waist slide block bottom is set to circular protrusions, and has in circular protrusions for the circular hole hinged with first connecting rod.
5. bionical quadruped robot of running as claimed in claim 1, it is characterized in that, described leg comprises foreleg and back leg, foreleg and back leg include thigh, shank, foreleg foot end and back leg foot end, thigh upper end is connected with back porch beam with crop beam respectively by the hip joint with pitch freedom, thigh lower end and shank upper end thereof, shank lower end is held with forward and backward leg foot respectively and is fixedly connected with.
6. bionical quadruped robot of running as claimed in claim 5, it is characterized in that, described foreleg holds the front foot end cylinder body comprised in cylindrical shape enough, described front foot end cylinder base is sphere, central upper portion place has a first downward blind hole, front foot end cylinder body top is provided with the first end cap, the shank lower end of foreleg vertically extend in the first blind hole through the first end cap, be on the shank in the first blind hole and be provided with outside horizontal-extending boss, the first spring be enclosed within shank is provided with between boss and the first end cap, the mud of thickness is filled with in first blind hole of boss bottom, and in robot kinematics, space is had between boss lower surface and the mud of thickness.
7. bionical quadruped robot of running as claimed in claim 6, is characterized in that, the upper and lower end of described first spring respectively correspondence is fixed on the first end cap lower surface and boss upper surface.
8. bionical quadruped robot of running as claimed in claim 5, it is characterized in that, described back leg holds the metapedes end cylinder body comprised in cylindrical shape enough, described metapedes end cylinder base is sphere, central upper portion place has a second downward blind hole, metapedes end cylinder body top is provided with the second end cap, the shank lower end of back leg vertically extend in the second blind hole through the second end cap, the shank end be in the second blind hole is provided with the disc pressing plate of outside horizontal-extending, is provided with the second spring be enclosed within shank between pressing plate and the second end cap; Pressing plate center is provided with a blind hole upwards extended along shank center, and the top of blind hole has a through hole communicated with the external world, and through hole is in the top of the second end cap all the time; Be filled with water in second blind hole of pressing plate bottom, portion waterborne is placed with inflation annulus.
9. bionical quadruped robot of running as claimed in claim 8, is characterized in that, the upper and lower end of described second spring is corresponding to be respectively fixed on the upper surface of the second end cap lower surface and pressing plate.
10. bionical quadruped robot of running as claimed in claim 1, it is characterized in that, described thigh upper and lower side is connected on forward and backward shoulder beam respectively by first, second hydraulic actuating cylinder, and the thigh first half one projecting point is articulated with on forward and backward shoulder beam.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510690265.3A CN105292296B (en) | 2015-10-21 | 2015-10-21 | Bionic running four-leg robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510690265.3A CN105292296B (en) | 2015-10-21 | 2015-10-21 | Bionic running four-leg robot |
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| CN105292296A true CN105292296A (en) | 2016-02-03 |
| CN105292296B CN105292296B (en) | 2017-05-03 |
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| CN201510690265.3A Expired - Fee Related CN105292296B (en) | 2015-10-21 | 2015-10-21 | Bionic running four-leg robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106237624A (en) * | 2016-09-19 | 2016-12-21 | 南宁邃丛赋语科技开发有限责任公司 | A kind of intelligent walking toy robot |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109733501A (en) * | 2019-01-31 | 2019-05-10 | 满世海 | Walking vehicle body leg |
| CN111168654A (en) * | 2020-02-13 | 2020-05-19 | 吉林大学 | Bionic robot spine mechanism and bionic robot |
| CN111301556A (en) * | 2020-03-20 | 2020-06-19 | 三峡大学 | Remote-control multifunctional quadruped robot and operation method |
| CN113401245A (en) * | 2021-08-04 | 2021-09-17 | 常州大学 | Four-legged running bionic robot |
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
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| WO2006103775A1 (en) * | 2005-03-30 | 2006-10-05 | Tmsuk Co., Ltd. | Quadruped walking robot |
| CN102343950A (en) * | 2011-07-13 | 2012-02-08 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
| CN104309716A (en) * | 2014-09-30 | 2015-01-28 | 山东大学 | Bionic quadruped robot |
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| US5758734A (en) * | 1996-01-19 | 1998-06-02 | Korea Institute Of Science And Technology | Foot system for jointed leg type walking robot |
| WO2006103775A1 (en) * | 2005-03-30 | 2006-10-05 | Tmsuk Co., Ltd. | Quadruped walking robot |
| CN102343950A (en) * | 2011-07-13 | 2012-02-08 | 北京交通大学 | Pliant four-footed robot with flexible waist and elastic legs |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106237624A (en) * | 2016-09-19 | 2016-12-21 | 南宁邃丛赋语科技开发有限责任公司 | A kind of intelligent walking toy robot |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| CN106428290B (en) * | 2016-12-09 | 2018-06-19 | 山东大学 | A kind of flexibility quadruped robot |
| CN109050711A (en) * | 2018-10-29 | 2018-12-21 | 山东大学 | One kind is run quadruped robot |
| CN109050711B (en) * | 2018-10-29 | 2021-06-25 | 山东大学 | Running quadruped robot |
| CN109733501A (en) * | 2019-01-31 | 2019-05-10 | 满世海 | Walking vehicle body leg |
| CN109733501B (en) * | 2019-01-31 | 2024-05-03 | 南京善若网络科技有限公司 | Walking vehicle body leg |
| CN111168654A (en) * | 2020-02-13 | 2020-05-19 | 吉林大学 | Bionic robot spine mechanism and bionic robot |
| CN111301556A (en) * | 2020-03-20 | 2020-06-19 | 三峡大学 | Remote-control multifunctional quadruped robot and operation method |
| CN113635993A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Four-legged robot with rigid-flexible coupling structure |
| CN113401245A (en) * | 2021-08-04 | 2021-09-17 | 常州大学 | Four-legged running bionic robot |
| CN113401245B (en) * | 2021-08-04 | 2022-03-11 | 常州大学 | Four-legged running bionic robot |
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| CN105292296B (en) | 2017-05-03 |
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