CN105799806A - 一种三维仿人行走器及其控制方法 - Google Patents
一种三维仿人行走器及其控制方法 Download PDFInfo
- Publication number
- CN105799806A CN105799806A CN201610157410.6A CN201610157410A CN105799806A CN 105799806 A CN105799806 A CN 105799806A CN 201610157410 A CN201610157410 A CN 201610157410A CN 105799806 A CN105799806 A CN 105799806A
- Authority
- CN
- China
- Prior art keywords
- metapedes
- foot
- motor
- walking device
- leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 210000002683 foot Anatomy 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000021715 photosynthesis, light harvesting Effects 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 claims description 83
- 210000003141 lower extremity Anatomy 0.000 claims description 26
- 238000004146 energy storage Methods 0.000 claims description 15
- 239000002131 composite material Substances 0.000 claims description 8
- 108010084652 homeobox protein PITX1 Proteins 0.000 claims description 6
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000003252 repetitive effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000002560 therapeutic procedure Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000011105 stabilization Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000013632 homeostatic process Effects 0.000 description 1
- 230000000877 morphologic effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610157410.6A CN105799806B (zh) | 2016-03-18 | 2016-03-18 | 一种三维仿人行走器及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610157410.6A CN105799806B (zh) | 2016-03-18 | 2016-03-18 | 一种三维仿人行走器及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105799806A true CN105799806A (zh) | 2016-07-27 |
CN105799806B CN105799806B (zh) | 2017-11-10 |
Family
ID=56453389
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610157410.6A Active CN105799806B (zh) | 2016-03-18 | 2016-03-18 | 一种三维仿人行走器及其控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105799806B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107512324A (zh) * | 2017-08-27 | 2017-12-26 | 刘哲 | 一种智能机器人 |
CN107554639A (zh) * | 2017-08-27 | 2018-01-09 | 刘哲 | 一种智能机器人用自动平衡足部受力装置 |
CN107685321A (zh) * | 2017-09-05 | 2018-02-13 | 刘哲 | 一种自动平衡机器人 |
CN108382486A (zh) * | 2018-03-16 | 2018-08-10 | 江汉大学 | 一种三足欠驱动行走器及其控制方法 |
CN108438082A (zh) * | 2018-03-16 | 2018-08-24 | 江汉大学 | 一种二维机器人行走装置及其控制方法 |
CN110696939A (zh) * | 2019-11-12 | 2020-01-17 | 杨晨光 | 一种智能机器人行走组件 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006142465A (ja) * | 2004-11-25 | 2006-06-08 | Institute Of Physical & Chemical Research | 二足歩行ロボットとその歩行制御方法 |
US20120165987A1 (en) * | 2010-12-23 | 2012-06-28 | Samsung Electronics Co., Ltd. | Walking robot and control method thereof |
CN103707952A (zh) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | 窄足被动行走装置及其控制方法 |
CN104973159A (zh) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | 一种窄足3d纯被动行走器 |
CN104973160A (zh) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | 一种双足带上身的直腿行走器 |
-
2016
- 2016-03-18 CN CN201610157410.6A patent/CN105799806B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006142465A (ja) * | 2004-11-25 | 2006-06-08 | Institute Of Physical & Chemical Research | 二足歩行ロボットとその歩行制御方法 |
US20120165987A1 (en) * | 2010-12-23 | 2012-06-28 | Samsung Electronics Co., Ltd. | Walking robot and control method thereof |
CN103707952A (zh) * | 2014-01-13 | 2014-04-09 | 重庆邮电大学 | 窄足被动行走装置及其控制方法 |
CN104973159A (zh) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | 一种窄足3d纯被动行走器 |
CN104973160A (zh) * | 2015-06-29 | 2015-10-14 | 重庆邮电大学 | 一种双足带上身的直腿行走器 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107512324A (zh) * | 2017-08-27 | 2017-12-26 | 刘哲 | 一种智能机器人 |
CN107554639A (zh) * | 2017-08-27 | 2018-01-09 | 刘哲 | 一种智能机器人用自动平衡足部受力装置 |
CN107685321A (zh) * | 2017-09-05 | 2018-02-13 | 刘哲 | 一种自动平衡机器人 |
CN108382486A (zh) * | 2018-03-16 | 2018-08-10 | 江汉大学 | 一种三足欠驱动行走器及其控制方法 |
CN108438082A (zh) * | 2018-03-16 | 2018-08-24 | 江汉大学 | 一种二维机器人行走装置及其控制方法 |
CN110696939A (zh) * | 2019-11-12 | 2020-01-17 | 杨晨光 | 一种智能机器人行走组件 |
Also Published As
Publication number | Publication date |
---|---|
CN105799806B (zh) | 2017-11-10 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105799806A (zh) | 一种三维仿人行走器及其控制方法 | |
CN103707952B (zh) | 窄足被动行走装置及其控制方法 | |
CN101428657B (zh) | 欠驱动双足步行机器人行走机构 | |
CN107614365A (zh) | 移动平台 | |
CN103481965B (zh) | 一种基于智能终端的低功耗行走装置及控制方法 | |
CN105438291B (zh) | 履带可变形机器人移动平台 | |
CN101422907B (zh) | 欠驱动双足步行机器人髋关节机构 | |
CN101428655B (zh) | 用于仿人机器人、多足步行机上的脚用轮式移动装置 | |
CN105460090B (zh) | 一种履带可变形机器人移动平台 | |
CN105857437A (zh) | 双足半被动行走器及其行走控制方法 | |
CN106741284A (zh) | 一种基于并联机构的六足机器人及其工作方法 | |
CN203094218U (zh) | 一种仿生六足机器人 | |
CN103010330A (zh) | 一种双足步行机器人 | |
CN105015642B (zh) | 由单电机驱动的半被动行走器及其转向控制方法 | |
CN104648510A (zh) | 可增大摩擦力的吸盘及吸附式自移动装置 | |
CN1589190A (zh) | 双足步行式移动系统、其步行控制器及步行控制方法 | |
CN102152818A (zh) | 一种适于在复杂立面上全方位移动的机器人 | |
CN205854318U (zh) | 仿生正六边形六足机器人 | |
CN103847823A (zh) | 履带式仿生爬壁机器人脚掌结构及其运动方法 | |
CN107416063A (zh) | 一种可实现滚动、行走的球形六足机器人 | |
CN104512493B (zh) | 一种齿轮传动对分上体节能被动行走装置的控制方法 | |
CN205168674U (zh) | 基于曲柄滑块结构的履带可变形机器人移动平台 | |
CN103230322B (zh) | 一种轮腿复合式轮椅的前腿机构 | |
CN203158107U (zh) | 一种履带式仿生爬壁机器人脚掌结构 | |
CN204915892U (zh) | 底盘升降型双足轮式运动机构及机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210105 Address after: 518000 Nanshan Software Park B1303, 10128 Shennan Avenue, Liancheng community, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN XINGZHE ROBOT TECHNOLOGY Co.,Ltd. Address before: 400065 Chongqing Nan'an District huangjuezhen pass Chongwen Road No. 2 Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
|
TR01 | Transfer of patent right |
Effective date of registration: 20210127 Address after: 400065 No.2 Chongwen Road, Nanshan street, huangjueya, Nan'an District, Chongqing Patentee after: CHONGQING University OF POSTS AND TELECOMMUNICATIONS Address before: 518000 Nanshan Software Park B1303, 10128 Shennan Avenue, Liancheng community, Nantou street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN XINGZHE ROBOT TECHNOLOGY Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210219 Address after: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing Patentee after: Chongqing Hengdao Intellectual Property Agency Co.,Ltd. Address before: 400065 No.2 Chongwen Road, Nanshan street, huangjueya, Nan'an District, Chongqing Patentee before: CHONGQING University OF POSTS AND TELECOMMUNICATIONS |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210603 Address after: 200000 2 / F, building 6, 128 Xiangyin Road, Yangpu District, Shanghai Patentee after: Shanghai zhuoyide robot Co.,Ltd. Address before: 401120 9-16, building 11, Guobin City, No.18, Xinji Avenue, Longxi street, Yubei District, Chongqing Patentee before: Chongqing Hengdao Intellectual Property Agency Co.,Ltd. |
|
TR01 | Transfer of patent right |