CN106080831B - It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation - Google Patents
It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation Download PDFInfo
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- CN106080831B CN106080831B CN201610561370.1A CN201610561370A CN106080831B CN 106080831 B CN106080831 B CN 106080831B CN 201610561370 A CN201610561370 A CN 201610561370A CN 106080831 B CN106080831 B CN 106080831B
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- 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
There is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation the invention discloses a kind of, including hip assembly, leg assembly, away from leg joint assembly, talocalcaneal articulation assembly, the left foot palm, the right crus of diaphragm palm, toe assembly, leg assembly is arranged in hip assembly and away between leg joint assembly, forms the main part of walking machine；Talocalcaneal articulation assembly is arranged in away between leg joint assembly and sole, and toe assembly is distributed in the both sides of sole.The foot joint of the present invention mainly includes simulates the physiological angle of the ankle-joint, talocalcaneal articulation of human foot in space and is designed away from leg joint assembly and talocalcaneal articulation assembly, the foot joint of walking machine.Toe can realize the elasticity startup in walking process under the action of the spring simultaneously.The present invention is by using passive walking principle and introduces bionical optimal and improve the beneficial effect of double feet walking machine walking stability and naturality away from leg, the talocalcaneal articulation efficiency that obtained walking.
Description
Technical field
The invention belongs to robot field, and in particular to it is a kind of with it is bionical away from-leg, away from-with the completely passive double of joint
Foot walking machine.
Background technology
Because bipod walking robot has the form being sufficiently close to the mankind and motion feature, it is adapted in daily life
A series of numerous and diverse, dangerous work are completed instead of the mankind.Therefore, in recent years, the research work about bipod walking robot obtains
Carry out to extensive.However, traditional bipod walking robot based on active control is mostly using the default joint trajectories of tracking
Control method, although class people walking can be realized and run, because walking mechanism and the mankind have differences, so generally existing
The problems such as high energy consumption, efficiency be low.
Last century the eighties, Canadian scholar T.McGeer propose passive kinetic theory, thus there is " robot
The concept of passive walking ".Afterwards, a series of double feet walking machines based on this concept arise at the historic moment.Literature survey shows, existing
Although completely passive double feet walking machine has the characteristics of wheel efficiency is high, such as Dutch delft universities compared to active control walking machine
Simplest Walker, cornell universities of the U.S. have passive biped robot of knee etc., but a lower limb knee of existing walking machine
Joint, ankle-joint are mostly that single shaft ideal is hinged, and are only capable of realizing the rotary motion in sagittal plane, and it is steady to have thereby resulted in its walking
Qualitative technical problem poor, gait is unnatural.
And the foot joint of the mankind contain away from-leg joint, away from-with multiple main large joints such as joint.Away from-leg joint by
Shin, fibula end articular surface and trochlea of talus are formed, and specific action can be completed in human body walking.Biological athletic mechanics studies table
It is bright, away from-with joint the stable pivot of foot being to maintain, it bears and conducts the body weight of human body, changes the rotation effect of lower limb, and
Collaboration and the motion of auxiliary ankle-joint.Meanwhile exist respectively away from-leg joint, away from the-motion rotary shaft with joint in the process of walking
Certain drift angle is also form in horizontal plane, sagittal plane, this be advantageous to improve walking stability, the naturality of gait and
The ability of lateral movement, thus realize that energy-conservation, stable nature walking provide natural study for completely passive walking walking machine
Source.
The present Research of above-mentioned passive walking and the superior bio architectural feature of model of human ankle are taken a broad view of, is badly in need of a kind of stable
The completely passive double feet walking machine that property is more preferable, gait is more natural.
The content of the invention
The invention aims to solve the stability of existing completely passive double feet walking machine generally existing is poor, gait not
The problem of natural, and provide it is a kind of have away from-leg joint, away from-with the completely passive double feet walking machine in joint, this is completely passive double
Foot walking machine has the characteristics that power consumption is low, stability is good, gait is natural.
The present invention include hip assembly, leg assembly, away from-leg joint assembly, away from-with joint assembly, the left foot palm, right crus of diaphragm
The palm, toe assembly；Leg assembly is arranged in hip assembly and away between-leg joint assembly, forms the main part of walking machine；
Away from-with joint assembly be arranged in away from-between leg joint assembly and sole, toe assembly is distributed in the both sides of sole；Sole includes
Left foot is slapped and the right crus of diaphragm palm；
Described hip assembly includes counterweight, hip crossbeam, first bearing seat, hip connector etc..Wherein, counterweight passes through
Counterweight steady pin is plugged on hip crossbeam, and first bearing seat is symmetrical, is plugged on hip horizontal stroke by the first straight pin respectively
The first deep groove ball bearing that Liang Shang, the rotary motion of hip joint axle and relative space position use by first bearing seat, in pairs, card
Spring determines that hip connector determines the relation that is connected by the second straight pin and hip joint axle jointly；
Described leg assembly includes the first spring pendant, pipe, and symmetrical pipe forms the leg of double feet walking machine
Portion's main part, pipe are plugged on hip connector by the 4th straight pin, meanwhile, the first spring pendant passes through the 3rd cylinder
Pin is plugged on pipe.
It is described equally symmetrical away from-leg joint assembly, leg connector, first are included away from-leg away from-leg joint assembly
Joint component, second are connected on pipe away from-leg joint component, leg connector by the 5th straight pin, used in pairs
One bolt, the first nut make first to be fixed together away from-leg joint component and leg connector, the 3rd nut that uses in pairs,
3rd bolt makes symmetrical second bearing seat be connected in second away from-leg joint component.First rotation away from-leg joint component
Transhipment is dynamic and relative space position is determined jointly by second bearing seat and the second deep groove ball bearing being embedded.Due to second
There is drift angle in the horizontal plane in assembling away from-leg joint component, angle range is 11 °~17 °, and this just makes away from-leg joint
Rotary shaft has this drift angle in the horizontal plane, can be with making in pairs it is determined that after the second angle away from the deflection of-leg joint component
Second bolt, the second nut make second away from-leg joint component holding defined location.Second spring suspension member passes through the 7th circle
Pin be connected in first away from-with joint component.The first spring being arranged symmetrically is arranged in the first spring pendant, second spring is hung
Between part, play a part of energy conversion, auxiliary walking during double feet walking machine is walked.
It is described away from-with joint assembly be located at the lower section away from-leg joint assembly, away from-with joint assembly include first away from-with
Joint component, the first connecting shaft, foot's connector, in the foot of left and right two of double feet walking machine, foot's connector by making in pairs
5th bolt, the 5th nut are respectively fixedly connected in the left foot palm, right crus of diaphragm palm.Meanwhile the 5th bolt, the 5th nut also act as by
Fourth bearing seat is connected in the effect on foot's connector.And 3rd bearing seat then passes through the 4th bolt that uses in pairs, the 4th
Nut is connected on foot's connector.Here, by change different foot's connectors can make away from-exist with the rotary shaft in joint
Sagittal plane forms different drift angles, and angle range is 42 °~45 °.By the 6th straight pin, first away from-with joint component and
One connecting shaft forms the movement relation of relative determination.And the rotary motion of the first connecting shaft and relative space position relation are by being embedded in
The angular contact ball bearing of 3rd deep groove ball bearing of 3rd bearing seat and embedded fourth bearing seat determines.Pass through the 6th straight pin
Grafting is acted on, and the 3rd spring pendant is connected in the first connecting shaft, while is also made away from-space the phase that keeps determining with joint component
To position.Symmetrical second spring is arranged in the 3rd spring pendant and is hinged on the left foot palm, the 3rd spring of right crus of diaphragm palm
Between suspension member, equally play a part of energy conversion and auxiliary walking.
It is described away from-with joint assembly be located at the both sides of sole and symmetrical, away from-with joint assembly include the 3rd bullet
Spring, digit members, toe, digit members are respectively fixedly connected in the left foot palm, right crus of diaphragm by the 6th bolt, the 6th nut that use in pairs
Palm, toe are formed be hinged by the second connecting shaft with digit members.4th spring pendant uses in pairs, with the side of threaded connection
Formula is connected with toe, the left foot palm, the right crus of diaphragm palm respectively.The 3rd spring, the 3rd spring are disposed between the 4th paired spring pendant
Use can make double feet walking machine realized in passive walking in walking process elasticity startup, gait is more nearly the mankind.
Working process and principle of the invention：
Completely passive double feet walking machine should be made to be placed on the inclined-plane with certain angle of inclination.It should give and swing first
The certain initial velocity of leg, when lead leg contact to earth after be changed into supporting leg, completely passive double feet walking machine will be with supporting leg away from-
The rotation of leg joint and have a motion forward in sagittal plane.Meanwhile in the presence of second spring, completely passive biped
The supporting leg of walking machine can with away from-with the rotation in joint have the motion of a side-sway in coronal-plane.It is another when leading leg
During secondary and collision on the ground, former supporting leg is changed into new and led leg, and half period walking is completed.Completely passive double feet walking machine will be by
This rule continuously works, and is finally completed completely passive walking.
Beneficial effects of the present invention：
1st, it is bionical away from-leg joint, it is bionical away from-with the use in joint, make walking machine while 3D walkings are completed, Ke Yiyou
Effect improves the walking stability and naturality of completely passive double feet walking machine.
2nd, the toe containing spring effect in completely passive double feet walking machine, it is possible to achieve when tiptoe is liftoff in walking process
Elasticity startup, gait is more nearly the mankind.
3rd, completely passive double feet walking machine can effectively utilize gravitional force and complete passive walking, and the efficiency that will walk is optimal
Change.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the left view of the present invention.
Fig. 4 is Fig. 3 partial sectional view.
Fig. 5 is Fig. 2 A-A views.
Wherein：1- hip assemblies；11- counterweights；12- counterweight steady pins；13- hip crossbeams；14- first bearing seats；15-
One straight pin；The deep groove ball bearings of 16- first；17- hip joint axles；18- jump rings；The straight pins of 19- second；110- hip connectors；
2- legs assembly；The spring pendants of 21- first；The straight pins of 22- the 3rd；The straight pins of 23- the 4th；24- pipes；3- is total away from-leg joint
Into；31- legs connector；The bolts of 32- first；The nuts of 33- first；34- first is away from-leg joint component；The bolts of 35- second；36-
Second nut；The straight pins of 37- the 5th；The nuts of 38- the 3rd；The bolts of 39- the 3rd；The deep groove ball bearings of 310- second；The axles of 311- second
Bearing；312- second spring suspension members；The springs of 313- first；314- second is away from-leg joint component；4- away from-with joint assembly；41-
First away from-with joint component；42- 3rd bearing seats；The deep groove ball bearings of 43- the 3rd；The straight pins of 44- the 6th；45- fourth bearings
Seat；The spring pendants of 46- the 3rd；The connecting shafts of 47- first；48- angular contact ball bearings；The straight pins of 49- the 7th；The bolts of 410- the 4th；
The nuts of 411- the 4th；The bolts of 412- the 5th；The nuts of 413- the 5th；414- foots connector；415- second springs；The bullets of 416- the 3rd
Spring suspension member；5- left foots are slapped；6- rights crus of diaphragm are slapped；7- toe assemblies；The spring pendants of 71- the 4th；The springs of 72- the 3rd；The bolts of 73- the 6th；
The nuts of 74- the 6th；75- digit members；The connecting shafts of 76- second；77- toes.
Embodiment
Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the present embodiment includes hip assembly 1, leg assembly 2, away from-leg
Joint assembly 3, away from-with joint assembly 4, left foot the palm 5, right crus of diaphragm the palm 6, toe assembly 7；Leg assembly 2 is arranged in the He of hip assembly 1
Away between-leg joint assembly 3, the main part of walking machine is formed；Away from-with joint assembly 4 be arranged in away from-leg joint assembly 3 with
Between sole, toe assembly 7 is distributed in the both sides of sole；Sole includes the left foot palm 5 and the right crus of diaphragm palm 6.
Described hip assembly 1 includes counterweight 11, hip crossbeam 13, first bearing seat 14, hip connector 110, counterweight
11 are plugged on hip crossbeam 13 by counterweight steady pin 12, and first bearing seat 14 is symmetrical, pass through the first straight pin respectively
15 are plugged on hip crossbeam 13, and the rotary motion of hip joint axle 17 and relative space position make by first bearing seat 14, in pairs
First deep groove ball bearing 16, jump ring 18 determine that hip connector 110 is true by the second straight pin 19 and hip joint axle 17 jointly
Surely be connected relation；
Described leg assembly 2 includes the first spring pendant 21, pipe 24, and symmetrical pipe 24 forms double feet walking
The leg main part of machine, pipe 24 are plugged on hip connector 110 by the 4th straight pin 23；First spring pendant 21 is logical
The 3rd straight pin 22 is crossed to be plugged on pipe 24；
It is described symmetrical away from-leg joint assembly 3, leg connector 31, first is included away from-leg away from-leg joint assembly 3
Joint component 34, second is connected on pipe 24 away from-leg joint component 314, leg connector 31 by the 5th straight pin 37, into
First is set to be fixed together away from-leg joint component 34 with leg connector 31 to the first bolt 32, the first nut 33 used, into
Symmetrical second bearing seat 311 is set to be connected in second away from-leg joint component on the 3rd nut 38, the 3rd bolt 39 used
On 314；First rotary motion and relative space position away from-leg joint component 34 is by second bearing seat 311 and is embedded
Second deep groove ball bearing 310 determines to be afraid of jointly；In assembling there is drift angle in the horizontal plane away from-leg joint component 314 due to second,
Angle range is 11 °~17 °, and this just makes the rotary shaft away from-leg joint have this drift angle in the horizontal plane, it is determined that second
After the angle deflected away from-leg joint component 314, the second bolt 35, the second nut 36 that use in pairs make second away from-leg joint
Component 314 keeps defined location；Second spring suspension member 312 by the 7th straight pin 49 be connected in first away from-with joint component
On 41；The first spring 313 being arranged symmetrically is arranged between the first spring pendant 21, second spring suspension member 312, in double feet walking
Machine plays a part of energy conversion, auxiliary walking during walking；
It is described away from-with joint assembly 4 be located at the lower section away from-leg joint assembly 3, away from-with joint assembly 4 include first
Away from-with joint component 41, the first connecting shaft 47, foot's connector 414；In the foot of left and right two of double feet walking machine, foot's connection
Part 414 is respectively fixedly connected by the 5th bolt 412, the 5th nut 413 that use in pairs and slapped in left foot on 5, the right crus of diaphragm palm 6, the 5th spiral shell
Bolt 412, the 5th nut 413 also act as the effect being connected in fourth bearing seat 45 on foot's connector 414；And 3rd bearing seat
42 are connected on foot's connector 414 by the 4th bolt 410, the 4th nut 411 used in pairs, different by changing
Foot's connector 414 can make away from-with joint rotary shaft sagittal plane formed drift angle；Angle range is 42 °~45 °；Pass through
6th straight pin 44, first away from-form with the connecting shaft 47 of joint component 41 and first movement relation of relative determination；And first connects
The rotary motion of spindle 47 and relative space position relation are by being embedded in the 3rd deep groove ball bearing 43 of 3rd bearing seat 42 and being embedded in
The angular contact ball bearing 48 of fourth bearing seat 45 determines；Acted on by the grafting of the 6th straight pin 44, the 3rd spring pendant 46 is solid
Be connected in the first connecting shaft 47, make away from-with joint component 41 keep determine relative space position；Symmetrical second spring
415 are arranged in the 3rd spring pendant 46 and are hinged on the left foot palm 5, right crus of diaphragm is slapped between the 3rd spring pendant 416 on 6, same to rise
The effect of walking is converted and aided in energy.
Described toe assembly 7 is located at both sides of sole and symmetrical, includes the 3rd spring 72, digit members 75, pin
Toe 77, digit members 75 are respectively fixedly connected by the 6th bolt 73, the 6th nut 74 that use in pairs and slap 5, the right crus of diaphragm palm 6 in left foot
On, toe 77 is formed be hinged by the second connecting shaft 76 with digit members 75；4th spring pendant 71 uses in pairs, is connected with screw thread
The mode connect is connected with toe 77, the left foot palm 5, the right crus of diaphragm palm 6 respectively；The 3rd bullet is disposed between the 4th paired spring pendant 71
Spring 72, the use of the 3rd spring 72 can make double feet walking machine realize the elasticity startup in walking process in passive walking, make step
State is more nearly the mankind.
Claims (3)
1. it is a kind of have it is bionical away from-leg, away from-with the completely passive double feet walking machine in joint, it is characterised in that：Including hip assembly
(1), leg assembly (2), away from-leg joint assembly (3), away from-it is total with joint assembly (4), the left foot palm (5), the right crus of diaphragm palm (6), toe
Into (7)；Leg assembly (2) is arranged in hip assembly (1) and away between-leg joint assembly (3), forms the main part of walking machine
Point；Away from-be arranged in away from-leg joint assembly (3) between sole with joint assembly (4), toe assembly (7) is distributed in the two of sole
Side；Sole includes the left foot palm (5) and the right crus of diaphragm palm (6)；
Described hip assembly (1) includes counterweight (11), hip crossbeam (13), first bearing seat (14), hip connector
(110), counterweight (11) is plugged on hip crossbeam (13) by counterweight steady pin (12), and first bearing seat (14) is symmetrical,
It is plugged on respectively by the first straight pin (15) on hip crossbeam (13), the rotary motion of hip joint axle (17) and space are with respect to position
Put and determined jointly by first bearing seat (14), the first deep groove ball bearing (16) used in pairs, jump ring (18), hip connector
(110) relation that is connected is determined by the second straight pin (19) and hip joint axle (17)；
Described leg assembly (2) includes the first spring pendant (21) and pipe (24), and symmetrical pipe (24) forms double
The leg main part of foot walking machine, pipe (24) are plugged on hip connector (110) by the 4th straight pin (23), and first
Spring pendant (21) is plugged on pipe (24) by the 3rd straight pin (22)；
It is described symmetrical away from-leg joint assembly (3), away from-leg joint assembly (3) include leg connector (31), first away from-
Leg joint component (34), second are connected in away from-leg joint component (314), leg connector (31) by the 5th straight pin (37)
On pipe (24), the first bolt (32), the first nut (33) that use in pairs make first to connect away from-leg joint component (34) with leg
Fitting (31) is fixed together；The 3rd nut (38), the 3rd bolt (39) used in pairs makes symmetrical second bearing seat
(311) second is connected in away from-leg joint component (314)；First rotary motion and space away from-leg joint component (34) is relative
Position is determined jointly by second bearing seat (311) and the second deep groove ball bearing (310) being embedded；Because second away from-leg pass
Section component (314) has drift angle in the horizontal plane in assembling, and this just makes the rotary shaft away from-leg joint have this in the horizontal plane
Drift angle；It is determined that after the second angle away from the deflection of-leg joint component (314), the second bolt (35), the second spiral shell that use in pairs
Female (36) make second away from-leg joint component (314) holding defined location；Second spring suspension member (312) passes through the 7th straight pin
(49) be connected in first away from-with joint component (41)；The first spring (313) being arranged symmetrically is arranged in the first spring pendant
(21) between second spring suspension member (312), energy conversion, the work of auxiliary walking are played during double feet walking machine is walked
With；
It is described away from-with joint assembly (4) be located at the lower section away from-leg joint assembly (3), away from-with joint assembly (4) include first
Away from-with joint component (41), the first connecting shaft (47), foot's connector (414), in the foot of left and right two of double feet walking machine, pin
Portion's connector (414) is respectively fixedly connected by the 5th bolt (412), the 5th nut (413) that use in pairs and slaps (5), the right side in left foot
On sole (6)；5th bolt (412), the 5th nut (413) also act as fourth bearing seat (45) being connected in foot's connector
(414) effect on；And 3rd bearing seat (42) is then connected by the 4th bolt (410), the 4th nut (411) that use in pairs
On foot's connector (414)；By change different foot's connectors (414) can make away from-swearing with the rotary shaft in joint
Shape face forms drift angle；By the 6th straight pin (44), first away from-formed with joint component (41) and the first connecting shaft (47) it is relative
The movement relation of determination；And the rotary motion of the first connecting shaft (47) and relative space position relation are by being embedded in 3rd bearing seat
(42) the 3rd deep groove ball bearing (43) and the angular contact ball bearing (48) of embedded fourth bearing seat (45) determines；Pass through the 6th circle
The grafting effect of pin (44), the 3rd spring pendant (46) is connected in the first connecting shaft (47), make away from-with joint component (41)
Keep the relative space position determined；Symmetrical second spring (415) is arranged in the 3rd spring pendant (46) with being hinged on
Between the 3rd spring pendant (416) on the left foot palm (5), the right crus of diaphragm palm (6), the work of energy conversion and auxiliary walking is equally played
With；
Described toe assembly (7) is located at both sides of sole and symmetrical, and toe assembly (7) includes the 3rd spring (72), pin
Toe component (75), toe (77), digit members (75) are solid respectively by the 6th bolt (73), the 6th nut (74) used in pairs
It is connected in the left foot palm (5), on the right crus of diaphragm palm (6), toe (77) forms be hinged by the second connecting shaft (76) and digit members (75)；The
Four spring pendants (71) use in pairs, solid with toe (77), the left foot palm (5), the right crus of diaphragm palm (6) respectively threadably
Even；The 3rd spring (72) is disposed between the 4th paired spring pendant (71), the use of the 3rd spring (72) can walk biped
Row machine realizes the elasticity startup in walking process in passive walking, gait is more nearly the mankind.
2. it is according to claim 1 it is a kind of have it is bionical away from-leg, away from-with the completely passive double feet walking machine in joint, it is special
Sign is：Away from-leg joint component (314), in assembling, the scope of drift angle is 11 °~17 ° to described second in the horizontal plane.
3. it is according to claim 1 it is a kind of have it is bionical away from-leg, away from-with the completely passive double feet walking machine in joint, it is special
Sign is：It is described away from-with joint rotary shaft drift angle in sagittal plane scope be 42 °~45 °.
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|---|---|---|---|
| CN201610561370.1A CN106080831B (en) | 2016-07-18 | 2016-07-18 | It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation |
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| CN201610561370.1A CN106080831B (en) | 2016-07-18 | 2016-07-18 | It is a kind of that there is the bionical completely passive double feet walking machine away from leg, talocalcaneal articulation |
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| CN106080831B true CN106080831B (en) | 2017-12-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625590B (en) * | 2016-12-07 | 2018-10-23 | 吉林大学 | Energy-saving and buffering and actively anti-depression bionic mechanical foot |
| CN106542018B (en) * | 2017-01-19 | 2018-08-17 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical articulationes metatarsophalangeae |
| CN107054490B (en) * | 2017-05-04 | 2019-03-19 | 河海大学常州校区 | A kind of robot sole with rope driving toe |
| CN108482510B (en) * | 2018-03-23 | 2019-10-18 | 吉林大学 | With auxiliary side-swing mechanism without knee under-actuated bionic double feet walking machine |
| CN108714065A (en) * | 2018-04-04 | 2018-10-30 | 邢志平 | A kind of bionical artificial limb machinery foot in parallel connection joint |
| CN108407918B (en) * | 2018-04-25 | 2023-12-01 | 江南大学 | Gas balance robot |
| CN108609066B (en) * | 2018-05-09 | 2023-11-14 | 北京理工大学 | Amphibious bionic machine waterfowl |
| CN108820066B (en) * | 2018-06-28 | 2020-11-03 | 吉林大学 | Adjustable passive stable mechanical foot |
| CN108583726B (en) * | 2018-07-18 | 2020-06-16 | 吉林大学 | Bionic tendon-bone cooperative rigid-flexible coupling sand-crossing mechanical foot |
| CN110843955A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Compound type deformation wheel simulating steps of cattle feet |
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| KR100541433B1 (en) * | 2002-12-23 | 2006-01-11 | 삼성전자주식회사 | Walking Robot with Two Legs |
| CN101428657B (en) * | 2008-12-16 | 2011-02-02 | 吉林大学 | Propel mechanism of underactuated biped walk robot |
| CN102973338B (en) * | 2012-12-07 | 2015-07-15 | 上海交通大学 | Active-passive type ankle joint prosthesis and movement mode thereof |
| CN104890756B (en) * | 2015-06-09 | 2017-04-05 | 江苏科技大学 | A kind of frame for movement and traveling method of three-dimensional apery bipod walking robot |
| CN205801295U (en) * | 2016-07-18 | 2016-12-14 | 吉林大学 | A kind of have bionical away from lower limb, the completely passive double feet walking machine of talocalcaneal articulation |
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