CN105292298A - Three-section machine body type hexapod robot with transportation function and operation function fused - Google Patents
Three-section machine body type hexapod robot with transportation function and operation function fused Download PDFInfo
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- CN105292298A CN105292298A CN201510878285.3A CN201510878285A CN105292298A CN 105292298 A CN105292298 A CN 105292298A CN 201510878285 A CN201510878285 A CN 201510878285A CN 105292298 A CN105292298 A CN 105292298A
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Abstract
The invention discloses a three-section machine body type hexapod robot with the transportation function and the operation function fused, and belongs to the technical field of robots. The problems that the rigid machine body structure of an existing hexapod robot is fixed and the function of the robot is single are solved. A front trunk is connected with a middle trunk in a rotating mode through front driving joints, the front trunk and linear drivers of the front driving joints are hinged, and the linear drivers of the front driving joints are hinged to the middle trunk. The middle trunk is connected with a rear trunk in a rotating mode through middle driving joints, the middle trunk and linear drivers of the middle driving joints are hinged, and the linear drivers of the middle driving joints are hinged to the rear trunk. A self-discharging tipping bucket is connected with the middle trunk in a rotating mode through rear driving joints, the self-discharging tipping bucket and linear drivers of the rear driving joints are hinged, and the linear drivers of the rear driving joints are hinged to the middle trunk. A front left leg and a front right leg are connected with the front trunk, a middle left leg and a middle right leg are hinged to the middle trunk, and a rear left leg and a rear right leg are hinged to the rear trunk. The hexapod robot is high in topographical change adaptive capacity and high in motion flexibility and stability.
Description
Technical field
The present invention relates to a kind of six biped robots, belong to robotics.
Background technology
On the earth, the ground of nearly half is that Conventional drum and tracklaying vehicle are unpassable, and sufficient formula animal can walk freely thereon.The survival of the fittest of 3500000000 years, most of terraria is all evolved into sufficient formula walking mode, to survive in environment complicated and changeable.With wheeled with crawler type etc. ground moving mode compare, sufficient formula walking can select discrete strong point, landform adaptive capacity and obstacle climbing ability strong, moving direction can comprehensively adjust, and manoevreability is good.Therefore, numerous researcher is carrying out the theory and practice exploration of walking movement.The TITAN series legged type robot etc. that representative legged type robot has BigDog, AlphaDog and Wildcat of Boston utility companies, the ATHLETE of NASA-JPL development, Tokyo Institute of Technology to develop.
Six biped robots and biped are compared with quadruped robot has the advantages such as good stability, load-carrying capacity is high, complex-terrain is adaptable, with eight foots and more multi-foot robot structure compared simple, move flexibly, control to facilitate, be the optimal selection under complex job environment, have broad application prospects.Successfully develop over one hundred kind of six biped robot experimental model and the principle prototypes differed from one another both at home and abroad, the SILO6 etc. that COMET series six biped robots of such as Chiba, Japan university development, full landform six biped robot Mantis and automation of industry association of Spain develop.From research at present, the body of six biped robots adopts rigid construction usually, and rigidity body has significant limitation, limits the lifting of six biped robot exercise performances.Patent " CN1709655A " proposes a kind of only with six biped robots that two motors drive, although control simple, and landform comformability and kinematic dexterity deficiency.Patent " CN103129640A " proposes a kind of six biped robots, and body is without degree of freedom, and complex-terrain crossing ability is not enough.Along with the application of legged type robot in the fields such as celestial body detecting, rescue and relief work, complex-terrain operation, legged type robot improves constantly the adaptive requirement of complex-terrain, therefore, independently be engaged in transport under needing to design a kind of complex-terrain and merge six biped robots with the leg-arm of operation, improve the carrying capacity of six biped robots under the complex-terrains such as vertical obstacle, trench, heavy grade slope, and complete some dangerous operations that the mankind are difficult to be engaged in.
Summary of the invention
The object of the invention is to fix for the rigidity housing construction of current six biped robots, the problem of robot function singleness, provide a kind of three sections of body formula six biped robots merging transport and operation function.This robot has good kinematic dexterity and higher landform carrying capacity, can realize the flexible stabilized walking in complex-terrain, can complete the job task of transport and other form.
Realize above-mentioned purpose, technical scheme of the present invention is:
A kind of three sections of body formula six biped robots merging transport and operation function, comprise two forelegs, two middle legs and two back legs, two described forelegs are left front leg and RAT respectively, two described middle legs are left leg and right leg respectively, and two described back legs are left back leg and right rear leg respectively; Three sections of body formula six biped robots of described fusion transport and operation function also comprise self-unloading tipping bucket, before driving joint, middle driving joint, rear drive joint and syllogic body, and described syllogic body is front trunk, middle trunk and rear trunk respectively;
Described front trunk is rotationally connected by before driving joint and middle trunk, front trunk and forerunner's diarthrodial linear actuator one end hinged, the described forerunner diarthrodial linear actuator other end and middle trunk hinged, described middle trunk is rotationally connected by middle driving joint and rear trunk, linear actuator one end of middle trunk and middle driving joint is hinged, the linear actuator other end and the rear trunk of described middle driving joint are hinged, described self-unloading tipping bucket is rotationally connected by rear drive joint and middle trunk, bottom self-unloading tipping bucket, diarthrodial linear actuator one end is hinged with rear-guard, the described rear-guard diarthrodial linear actuator other end and middle trunk hinged, described left front leg and RAT are distributed in the left and right sides of front trunk, and left front leg is connected with front trunk with RAT, described left leg and right leg are distributed in the left and right sides of middle trunk, left leg and right leg and middle trunk hinged, described left back leg and right rear leg are distributed in the left and right sides of rear trunk, left back leg and right rear leg and rear trunk hinged.
The present invention relative to the beneficial effect of prior art is:
(1) sectional type housing construction of the present invention, improves the kinematic dexterity of six biped robots.The topography and geomorphology of various complexity can be run in robot ambulation process, conventional rigid body can only passive adaptation topography variation, and six biped robots of the present invention are when running into accidental relief, on the one hand by six leg adaptation to the grounds, on the other hand by the further adaptation to the ground of sectional type body, improve kinematic dexterity and the stability of robot.
(2) self-unloading tipping bucket of the present invention is installed on middle trunk; and with self-unloading function, its advantage makes load concentration at the middle part of robot, and in robot ambulation process; in the region among a small circle of barycenter all the time around body geometric centre, the stability of robot can be guaranteed.
(3) robot leg design of the present invention has taken into full account the operating characteristic of diverse location leg, and two middle legs and two back legs are used for walking, and two forelegs also have operation function except walking.Upper leg and back leg is driven to have employed electric liquid combination drive mode.When robot is advanced, leg driving joint one only bears the load promoting body and advance, and load is less, therefore adopts motor to drive, and the load of vertical direction mainly concentrates on leg driving joint two and leg driving joint three, therefore adopts hydraulic-driven.This is designed with and is beneficial to middle leg and back leg formation stable support, so that foreleg carries out operation.
(4) robot of the present invention two forelegs have employed leg-arm fusion type structure, and type of drive adopts motor to drive, and increases the motion space in joint.During robot ambulation, the apparatus for work (paw) of foreleg end draws in above leg passive joint seven, and out extensible during operation.In addition, leg-arm fusion type the structure adopted, except completing walking, also have operation function, foreleg end installs different apparatus for work can complete different job tasks, two legs-arm can carry out work compound, coordinates self-unloading tipping bucket can complete more diversified job task.
(5) six biped robot applied ranges of the present invention, front trunk, self-unloading tipping bucket and two legs-arm fusion type structure composition coordinated operation system, not only can be used for the operation under the complex-terrains such as celestial body detecting, military exploration, rescue and relief work, mountain region transport and jungle operation, size suitably can also be reduced, be used as toy robot, teaching and amusement robot etc.
Accompanying drawing explanation
Fig. 1 is the integrally-built axonometric drawing merging three sections of body formula six biped robots of transport and operation function of the present invention, and self-unloading tipping bucket is horizontally disposed with;
Fig. 2 is the integrally-built axonometric drawing merging three sections of body formula six biped robots of transport and operation function of the present invention, and self-unloading tipping bucket is obliquely installed;
Fig. 3 is the front view of left leg, left back leg, right leg or right rear leg;
Fig. 4 is the front view of left front leg or RAT;
Fig. 5 is the A place partial enlarged drawing of Fig. 1;
Fig. 6 is the B place partial enlarged drawing of Fig. 2.
In figure: front trunk 1, middle trunk 2, rear trunk 3, left front leg 4, left leg 5, left back leg 6, RAT 7, right leg 8, right rear leg 9, self-unloading tipping bucket 10, before driving joint 11, the linear actuator 12 in before driving joint 11, middle driving joint 13, the linear actuator 14 of middle driving joint 13, rear drive joint 15, the linear actuator 16 in rear drive joint 15, leg driving joint 1, base pitch 1, leg driving joint 2 19, thigh 1, leg driving joint 3 21, shank 1, leg passive joint 1, foot 1, the linear actuator 25 of leg driving joint 2 19, the linear actuator 26 of leg driving joint 3 21, leg driving joint 4 27, base pitch 2 28, leg driving joint 5 29, thigh 2 30, leg driving joint 6 31, shank 2 32, leg passive joint 7 33, foot 2 34, leg driving joint 8 35, paw 36.
Detailed description of the invention
Detailed description of the invention one: as shown in Fig. 1 ~ Fig. 6, a kind of three sections of body formula six biped robots merging transport and operation function of present embodiment, comprise two forelegs (two foreleg is leg-arm fusion type leg), two middle legs and two back legs, two described forelegs are left front leg 4 and RAT 7 respectively, two described middle legs are left leg 5 and right leg 8 respectively, and two described back legs are left back leg 6 and right rear leg 9 respectively; Three sections of body formula six biped robots of described fusion transport and operation function also comprise self-unloading tipping bucket 10, before driving joint 11, middle driving joint 13, rear drive joint 15 and syllogic body, and described syllogic body is front trunk 1, middle trunk 2 and rear trunk 3 respectively;
Described front trunk 1 is rotationally connected (before driving joint 11 is rotated up and down around horizontal axis) by before driving joint 11 and middle trunk 2, front trunk 1 is hinged with linear actuator 12 one end in before driving joint 11, linear actuator 12 other end and the middle trunk 2 in described before driving joint 11 are hinged, described middle trunk 2 is rotationally connected (middle driving joint 13 is around vertical axis left-right rotation) with rear trunk 3 by middle driving joint 13, middle trunk 2 is hinged with linear actuator 14 one end of middle driving joint 13, linear actuator 14 other end and the rear trunk 3 of described middle driving joint 13 are hinged, described self-unloading tipping bucket 10 is rotationally connected by rear drive joint 15 and middle trunk 2 that (rear drive joint 15 is rotated up and down around horizontal axis, realize lifting and falling of self-unloading tipping bucket 10), hinged with linear actuator 16 one end in rear drive joint 15 bottom self-unloading tipping bucket 10, linear actuator 16 other end and the middle trunk 2 in described rear drive joint 15 are hinged (when robot zero load is walked, self-unloading tipping bucket 10 is regained by the linear actuator 16 in rear drive joint 15, during operation, two middle legs and two back leg apparent load sizes select suitable support attitude, self-unloading tipping bucket 10 boosts by the linear actuator 16 in rear drive joint 15, coordinate can complete loading and unloading operation with two forelegs), described left front leg 4 and RAT 7 are distributed in the left and right sides of front trunk 1, and left front leg 4 is connected with front trunk 1 with RAT 7, described left leg 5 and right leg 8 are distributed in the left and right sides of middle trunk 2, left leg 5 and right leg 8 hinged with middle trunk 2, described left back leg 6 and right rear leg 9 are distributed in the left and right sides of rear trunk 3, left back leg 6 and right rear leg 9 hinged with rear trunk 3.
Present embodiment, adopts the degree of freedom in the joint of sectional type trunk and type of drive thereof, the degree of freedom of driving joint (i.e. the linear actuator 16 in rear drive joint 15) of self-unloading tipping bucket 10 and type of drive thereof that other configuration mode met the demands can be adopted to replace.
Present embodiment adopts the design of sectional type body, improves kinematic dexterity and the landform adaptive capacity of six biped robots.Article six, leg can realize the omnibearing ambulation of robot by certain gait, and two middle legs and two back legs form stable support so that when two forelegs carry out flexible operation, before driving joint 11 can increase the working space of two forelegs.
Detailed description of the invention two: as shown in Fig. 1 ~ Fig. 3, a kind of three sections of body formula six biped robots merging transport and operation function described in detailed description of the invention one, described left leg 5, left back leg 6, right leg 8 and right rear leg 9 structure are identical, and include leg driving joint 1, base pitch 1, leg driving joint 2 19, thigh 1, leg driving joint 3 21, shank 1, leg passive joint 1 and foot 1;
Described leg driving joint 1, base pitch 1, leg driving joint 2 19, thigh 1, leg driving joint 3 21, shank 1, leg passive joint 1 and foot 1 set gradually, the actuator of leg driving joint 1 is arranged in base pitch 1, described base pitch 1 is hinged with leg driving joint 2 19, described leg driving joint 2 19 is hinged with thigh 1 one end, described thigh 1 other end and leg driving joint 3 21 hinged, described leg driving joint 3 21 is hinged with shank 1 one end, described shank 1 other end and leg passive joint 1 hinged, described leg passive joint 1 is hinged with foot 1,
Described leg driving joint 2 19 is rotary joint, linear actuator 25 one end and the base pitch 1 of leg driving joint 2 19 are hinged, linear actuator 25 other end and the thigh 1 of leg driving joint 2 19 are hinged, leg driving joint 3 21 is rotary joint, linear actuator 26 one end and the thigh 1 of leg driving joint 3 21 are hinged, and linear actuator 26 other end and the shank 1 of leg driving joint 3 21 are hinged; Described left leg 5 and the leg driving joint 1 of right leg 8 are hinged with middle trunk 2 respectively, and described left back leg 6 and the leg driving joint 1 of right rear leg 9 are hinged with rear trunk 3 respectively.
Detailed description of the invention three: as shown in Fig. 1 ~ Fig. 3, Fig. 5 and Fig. 6, a kind of three sections of body formula six biped robots merging transport and operation function described in detailed description of the invention two, the actuator of described leg driving joint 1 is conventional motor; The linear actuator 25 of described leg driving joint 2 19 and the linear actuator 26 of leg driving joint 3 21 are hydraulic unit driver.
Detailed description of the invention three: as shown in Figure 1, Figure 2, shown in Fig. 4 ~ Fig. 6, a kind of three sections of body formula six biped robots merging transport and operation function described in detailed description of the invention two or three, described left front leg 4 is identical with RAT 7 structure, and includes leg driving joint 4 27, base pitch 2 28, leg driving joint 5 29, thigh 2 30, leg driving joint 6 31, shank 2 32, leg passive joint 7 33, foot 2 34, leg driving joint 8 35 and paw 36; Described leg driving joint 4 27, base pitch 2 28, leg driving joint 5 29, thigh 2 30, leg driving joint 6 31, shank 2 32, leg passive joint 7 33, foot 2 34, leg driving joint 8 35 and paw 36 set gradually,
Described leg driving joint 4 27 is hinged with base pitch 2 28, described base pitch 2 28 is hinged with leg driving joint 5 29, described leg driving joint 5 29 is hinged with thigh 2 30 one end, described thigh 2 30 other end and leg driving joint 6 31 hinged, described leg driving joint 6 31 is hinged with shank 2 32 one end, described shank 2 32 other end and leg passive joint 7 33 hinged, described leg passive joint 7 33 is hinged with foot 2 34, described leg driving joint 8 35 is hinged with shank 2 32, and leg driving joint 8 35 is hinged with paw 36; The actuator (for conventional motor) of leg driving joint 4 27 is arranged on front trunk 1 or base pitch 2 28, the actuator (for conventional motor) of leg driving joint 5 29 is arranged on base pitch 2 28 or thigh 2 30, the actuator (for conventional motor) of leg driving joint 6 31 is arranged on thigh 2 30 or shank 2 32, and the actuator (for conventional motor) of leg driving joint 8 35 is arranged on shank 2 32.
Claims (4)
1. one kind merges three sections of body formula six biped robots of transport and operation function, comprise two forelegs, two middle legs and two back legs, two described forelegs are left front leg (4) and RAT (7) respectively, two described middle legs are left leg (5) and right leg (8) respectively, and two described back legs are left back leg (6) and right rear leg (9) respectively; It is characterized in that: three sections of body formula six biped robots of described fusion transport and operation function also comprise self-unloading tipping bucket (10), before driving joint (11), middle driving joint (13), rear drive joint (15) and syllogic body, described syllogic body is front trunk (1), middle trunk (2) and rear trunk (3) respectively;
Described front trunk (1) is rotationally connected by before driving joint (11) and middle trunk (2), front trunk (1) is hinged with linear actuator (12) one end in before driving joint (11), linear actuator (12) other end and the middle trunk (2) in described before driving joint (11) are hinged, described middle trunk (2) is rotationally connected by middle driving joint (13) and rear trunk (3), middle trunk (2) is hinged with linear actuator (14) one end of middle driving joint (13), linear actuator (14) other end and the rear trunk (3) of described middle driving joint (13) are hinged, described self-unloading tipping bucket (10) is rotationally connected by rear drive joint (15) and middle trunk (2), self-unloading tipping bucket (10) bottom is hinged with linear actuator (16) one end in rear drive joint (15), linear actuator (16) other end and the middle trunk (2) in described rear drive joint (15) are hinged, described left front leg (4) and RAT (7) are distributed in the left and right sides of front trunk (1), and left front leg (4) is connected with front trunk (1) with RAT (7), described left leg (5) and right leg (8) are distributed in the left and right sides of middle trunk (2), and left leg (5) and right leg (8) are hinged with middle trunk (2), described left back leg (6) and right rear leg (9) are distributed in the left and right sides of rear trunk (3), and left back leg (6) and right rear leg (9) are hinged with rear trunk (3).
2. a kind of three sections of body formula six biped robots merging transport and operation function according to claim 1, it is characterized in that: described left leg (5), left back leg (6), right leg (8) and right rear leg (9) structure are identical, and include leg driving joint one (17), base pitch one (18), leg driving joint two (19), thigh one (20), leg driving joint three (21), shank one (22), leg passive joint one (23) and foot one (24);
Described leg driving joint one (17), base pitch one (18), leg driving joint two (19), thigh one (20), leg driving joint three (21), shank one (22), leg passive joint one (23) and foot one (24) set gradually, the actuator of leg driving joint one (17) is arranged in base pitch one (18), described base pitch one (18) is hinged with leg driving joint two (19), described leg driving joint two (19) is hinged with thigh one (20) one end, described thigh one (20) other end and leg driving joint three (21) hinged, described leg driving joint three (21) is hinged with shank one (22) one end, described shank one (22) other end and leg passive joint one (23) hinged, described leg passive joint one (23) is hinged with foot one (24),
Described leg driving joint two (19) is rotary joint, linear actuator (25) one end and the base pitch one (18) of leg driving joint two (19) are hinged, linear actuator (25) other end and the thigh one (20) of leg driving joint two (19) are hinged, leg driving joint three (21) is rotary joint, linear actuator (26) one end and the thigh one (20) of leg driving joint three (21) are hinged, and linear actuator (26) other end and the shank one (22) of leg driving joint three (21) are hinged; Described left leg (5) and the leg driving joint one (17) of right leg (8) hinged with middle trunk (2) respectively, described left back leg (6) and the leg driving joint one (17) of right rear leg (9) hinged with rear trunk (3) respectively.
3. a kind of three sections of body formula six biped robots merging transport and operation function according to claim 2, is characterized in that: the actuator of described leg driving joint one (17) is motor; The linear actuator (25) of described leg driving joint two (19) and the linear actuator (26) of leg driving joint three (21) are hydraulic unit driver.
4. a kind of three sections of body formula six biped robots merging transport and operation function according to Claims 2 or 3, it is characterized in that: described left front leg (4) is identical with RAT (7) structure, and include leg driving joint four (27), base pitch two (28), leg driving joint five (29), thigh two (30), leg driving joint six (31), shank two (32), leg passive joint seven (33), foot two (34), leg driving joint eight (35) and paw (36); Described leg driving joint four (27), base pitch two (28), leg driving joint five (29), thigh two (30), leg driving joint six (31), shank two (32), leg passive joint seven (33), foot two (34), leg driving joint eight (35) and paw (36) set gradually
Described leg driving joint four (27) is hinged with base pitch two (28), described base pitch two (28) is hinged with leg driving joint five (29), described leg driving joint five (29) is hinged with thigh two (30) one end, described thigh two (30) other end and leg driving joint six (31) hinged, described leg driving joint six (31) is hinged with shank two (32) one end, described shank two (32) other end and leg passive joint seven (33) hinged, described leg passive joint seven (33) is hinged with foot two (34), described leg driving joint eight (35) is hinged with shank two (32), leg driving joint eight (35) is hinged with paw (36), the actuator of leg driving joint four (27) is arranged on front trunk (1) or base pitch two (28), the actuator of leg driving joint five (29) is arranged on base pitch two (28) or thigh two (30), the actuator of leg driving joint six (31) is arranged on thigh two (30) or shank two (32), and the actuator of leg driving joint eight (35) is arranged on shank two (32).
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Cited By (14)
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| CN107839782A (en) * | 2017-11-10 | 2018-03-27 | 安徽工程大学 | A kind of six-leg robot |
| CN108468513A (en) * | 2018-04-24 | 2018-08-31 | 湖南普力海洋科技有限公司 | Complicated landform self-propelled deep-sea core sampler drill |
| CN108909874A (en) * | 2018-08-16 | 2018-11-30 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
| CN108944302A (en) * | 2018-05-23 | 2018-12-07 | 上海交通大学 | A kind of microminiature quadrotor bionic 6-leg Fei Pa robot |
| CN109367642A (en) * | 2018-10-26 | 2019-02-22 | 北京工业大学 | A kind of bionical hexapod robot of cephalothorax abdomen separate type |
| CN109501882A (en) * | 2018-12-10 | 2019-03-22 | 内蒙古第机械集团股份有限公司 | A kind of leg joint driving mechanism of foot formula walking robot |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
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| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
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| CN107839782B (en) * | 2017-11-10 | 2023-05-12 | 安徽工程大学 | Six-foot detection robot |
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| CN108468513A (en) * | 2018-04-24 | 2018-08-31 | 湖南普力海洋科技有限公司 | Complicated landform self-propelled deep-sea core sampler drill |
| CN108944302A (en) * | 2018-05-23 | 2018-12-07 | 上海交通大学 | A kind of microminiature quadrotor bionic 6-leg Fei Pa robot |
| CN108944302B (en) * | 2018-05-23 | 2021-10-22 | 上海交通大学 | Micro-miniature four-rotor hexapod bionic flying robot |
| CN108909874A (en) * | 2018-08-16 | 2018-11-30 | 西南科技大学 | A kind of hydraulic drive type heavy duty hexapod robot leg |
| CN109367642A (en) * | 2018-10-26 | 2019-02-22 | 北京工业大学 | A kind of bionical hexapod robot of cephalothorax abdomen separate type |
| CN109501882A (en) * | 2018-12-10 | 2019-03-22 | 内蒙古第机械集团股份有限公司 | A kind of leg joint driving mechanism of foot formula walking robot |
| CN109501882B (en) * | 2018-12-10 | 2023-10-03 | 内蒙古第一机械集团股份有限公司 | Leg joint driving mechanism of foot-type walking robot |
| CN109703646A (en) * | 2019-01-14 | 2019-05-03 | 南昌大学 | A kind of novel legged type robot device |
| CN109733500A (en) * | 2019-01-28 | 2019-05-10 | 南昌大学 | A kind of restructural hexapod robot device |
| CN109733500B (en) * | 2019-01-28 | 2024-04-05 | 南昌大学 | Reconfigurable hexapod robot device |
| CN109771227A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | The sufficient power-assisted healing robot of one kind six |
| CN109771228A (en) * | 2019-03-10 | 2019-05-21 | 浙江工业大学 | A kind of four-footed assisted walk healing robot with balancing device |
| CN110294044A (en) * | 2019-08-12 | 2019-10-01 | 吉林大学 | A kind of large-scale heavy duty hexapod robot |
| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
| CN114348136A (en) * | 2022-01-18 | 2022-04-15 | 上海交通大学 | Multi-foot robot for curling |
| CN114348136B (en) * | 2022-01-18 | 2023-08-22 | 上海交通大学 | Curling multi-legged robot |
| CN115285250A (en) * | 2022-08-17 | 2022-11-04 | 北京控制工程研究所 | Six-wheel leg composite moving action robot with leg and arm multiplexing function |
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