CN105799806B - 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
- CN105799806B CN105799806B CN201610157410.6A CN201610157410A CN105799806B CN 105799806 B CN105799806 B CN 105799806B CN 201610157410 A CN201610157410 A CN 201610157410A CN 105799806 B CN105799806 B CN 105799806B
- Authority
- CN
- China
- Prior art keywords
- metapedes
- leg
- foot
- support
- straight legs
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 230000021715 photosynthesis, light harvesting Effects 0.000 claims abstract description 4
- 210000002414 leg Anatomy 0.000 claims description 110
- 238000004146 energy storage Methods 0.000 claims description 14
- 239000002131 composite material Substances 0.000 claims description 8
- 108010084652 homeobox protein PITX1 Proteins 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 230000003252 repetitive effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 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
- 238000009825 accumulation Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005611 electricity Effects 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
Abstract
Description
Claims (5)
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 CN105799806A (zh) | 2016-07-27 |
CN105799806B true 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) |
Families Citing this family (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 |
CN108382486B (zh) * | 2018-03-16 | 2019-12-24 | 江汉大学 | 一种三足欠驱动行走器及其控制方法 |
CN108438082B (zh) * | 2018-03-16 | 2019-12-20 | 江汉大学 | 一种二维机器人行走装置及其控制方法 |
CN110696939B (zh) * | 2019-11-12 | 2021-02-09 | 杨晨光 | 一种智能机器人行走组件 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4707372B2 (ja) * | 2004-11-25 | 2011-06-22 | 独立行政法人理化学研究所 | 二足歩行ロボットとその歩行制御方法 |
KR20120071599A (ko) * | 2010-12-23 | 2012-07-03 | 삼성전자주식회사 | 보행 로봇 및 그 제어 방법 |
-
2016
- 2016-03-18 CN CN201610157410.6A patent/CN105799806B/zh active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
Also Published As
Publication number | Publication date |
---|---|
CN105799806A (zh) | 2016-07-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105799806B (zh) | 一种三维仿人行走器及其控制方法 | |
CN204295693U (zh) | 一种携爪救援机器人 | |
CN106184458B (zh) | 一种由并行连杆驱动的六足机器人 | |
CN103707952B (zh) | 窄足被动行走装置及其控制方法 | |
CN101934525B (zh) | 仿人机器人可变刚度柔性关节设计 | |
CN108357581B (zh) | 一种仿生柔性爪刺对抓足结构机器人 | |
CN104986244B (zh) | 欠驱动行走装置及其控制方法 | |
CN103481965B (zh) | 一种基于智能终端的低功耗行走装置及控制方法 | |
CN104973163B (zh) | 全地貌行走器及其控制方法 | |
CN103802907A (zh) | 类人机器人脚 | |
JP2003266337A (ja) | 2足歩行ロボット | |
CN105438291B (zh) | 履带可变形机器人移动平台 | |
CN105015642B (zh) | 由单电机驱动的半被动行走器及其转向控制方法 | |
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 | |
CN205469357U (zh) | 用于跨越障碍的多功能仿蚁机器人 | |
CN103895725A (zh) | 一种电磁内部驱动式球形机器人 | |
CN106628902A (zh) | 一种物流派送机器人 | |
CN105460090A (zh) | 一种履带可变形机器人移动平台 | |
CN205854318U (zh) | 仿生正六边形六足机器人 | |
CN205168674U (zh) | 基于曲柄滑块结构的履带可变形机器人移动平台 | |
CN105774939B (zh) | 一种半被动四足机器人转弯结构及其控制方法 | |
Wang et al. | Kinetostatic backflip strategy for self-recovery of quadruped robots with the selected rotation axis | |
Hanazawa et al. | Active walking robot mimicking flat-footed passive dynamic walking | |
CN203390943U (zh) | 五指型仿人机器手 | |
CN109807915A (zh) | 一种基于变胞原理的可变刚度的欠驱动仿生机械手 |
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 |