CN106364587B - A kind of control method of humanoid robot foot section - Google Patents
A kind of control method of humanoid robot foot section Download PDFInfo
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- CN106364587B CN106364587B CN201610921484.2A CN201610921484A CN106364587B CN 106364587 B CN106364587 B CN 106364587B CN 201610921484 A CN201610921484 A CN 201610921484A CN 106364587 B CN106364587 B CN 106364587B
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- astragalus
- metatarsal
- face
- calcaneum
- interior
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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
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Abstract
The invention discloses a kind of control methods of humanoid robot foot section, it is characterized in that one upper plate of setting is as astragalus, the rear end face of astragalus is plane, the front end face of astragalus is overlooked V-shaped, there is symmetrical outside front ends face and inside front ends face, three rod pieces to form the support in three forces to astragalus on astragalus rear end face and front end face on " V " shape front end face；Three rod pieces are calcaneum, interior metatarsal and outer metatarsal respectively, it is rear vertex, the rear foot bottom stress triangle of tip backwards to form a lower end with calcaneum, the upper surface of astragalus is connect by ankle-joint with robot lower limb, form humanoid robot foot section, its control method is that linear drive apparatus is arranged on robot lower limb, using flexible cable by each component of action drives of setting, the driving and control of robot foot section articulation are realized.The present invention can be achieved people contact to earth enough behavior pattern and performance it is bionical.
Description
It is on December 26th, 2014 that the application, which is the applying date, entitled a kind of imitative application No. is 2014108340694
Robot people foot and its control method apply for the divisional application of artificial HeFei University of Technology.
Technical field
The humanoid robot foot section for behavior pattern and the performance of contacting to earth the invention discloses a kind of walking of bionical people's foot, belongs to
Bionic mechanical field.
Background technology
Anthropomorphic robot is apish form and behavior and the robot manufactured and designed, anthropomorphic robot have very strong
Adaptive capacity to environment and potentiality are widely applied, but walking step state is stiff, poor walking stability is always to contain that its trend is wide
The bottleneck of general application.Therefore, the design studies of bio-robot foot are to improve the breakthrough of robot ambulation stability
One of point.A kind of bionical foot with human foot functional characteristics is designed, is that raising and the walking of improvement anthropomorphic robot are steady
Qualitative, enhancing anthropomorphic robot one of the break-through point of adaptive capacity to environment, is that anthropomorphic robot is promoted to move towards application field
Important topic.
Current Robot foot mechanism is simplified slab construction mostly, and there are also foots to tie with toes joint
Structure, wherein active toes joint mostly use greatly the engaged transmission of motor driving or gear to realize, and passive toes joint is most
It is to be realized using the deformation of spring or flexible unit, such as the flexible hinge in 103112516 A of patent CN.There are the problem of
It is：The foot structure proposed at present, foot is contacted with ground when cannot imitate human body walking well whole process, cannot be very
Good absorption ground shock and vibration, therefore from the gait characteristic heelstrike to tiptoe when liftoff when can not simulate people's walking,
Complicated ground road conditions can not be coped with, robot ambulation stability and flexibility are influenced.Due to current robot foot section mostly
Active joint is not that the degree of freedom of linear drives and control, foot structure is few, therefore the control system of foot structure is sufficiently complex,
And initiative and flexible property and passive stabilization without people's foot, lead to robot ambulation gait adjustment energy force difference.
Invention content
The present invention is to provide a kind of humanoid robot foot section in order to avoid above-mentioned existing deficiencies in the technology
Control method, with realize people contact to earth enough behavior pattern and performance it is bionical, improve robot ambulation stability and flexibility.
The present invention is to solve technical problem to adopt the following technical scheme that：
Humanoid robot foot section of the present invention is structurally characterized in that：One upper plate is set as astragalus, the rear end face of astragalus is
Plane, the front end face of astragalus are overlooked V-shaped, have symmetrical outside front ends face and inside front ends face on " V " shape front end face, and three
Root rod piece forms astragalus on astragalus rear end face and front end face the support in three forces；Three rod pieces are respectively：
Calcaneum, the upper end by followed by joint support astragalus rear end face；
Interior metatarsal, the upper end are supported on the inside front ends face of astragalus by interior metatarsal joints；
Outer metatarsal, the upper end are supported on the outside front ends face of astragalus by outer metatarsal joints；
It is rear vertex, the rear foot bottom stress triangle of tip backwards to form a lower end with calcaneum；Interior metatarsal and outer plantar
The lower end of bone is respectively inside vertex and the outer point of rear foot bottom stress triangle；The upper surface of astragalus passes through ankle-joint and machine
Device people's lower limb connect.
The design feature of humanoid robot foot section of the present invention is lain also in：Afterwards each two supporting point of foot bottom stress triangle it
Between be connected by elastic tension elements, formed with astragalus be bow push up three Spatial Parallel arch of foots, be respectively：With calcaneum, interior
Metatarsal, astragalus, and medial longitudinal arch that the first elastic tension elements for being connected between calcaneum and interior metatarsal are constituted；With calcaneum,
Outer metatarsal, astragalus, and lateral longitudinal arch that the second elastic tension elements for being connected between calcaneum and outer metatarsal are constituted；Within plantar
Bone, astragalus, outer metatarsal, and crossbows that the third elasticity tension elements 9 that are connected between interior metatarsal and astragalus are constituted.
The design feature of humanoid robot foot section of the present invention is lain also in：One halluces is set, halluces proximally by big
Big toe flexibility of joint is connected to the lower end of interior metatarsal, and the distal end that halluces extends forward is downwardly convex to be used as preceding vertex；With sinciput
Point forms tip preceding foot bottom stress triangle facing forward, preceding foot bottom stress triangle and metapedes bottom with inside vertex and outer point
It is total to side by the triangle of forces and is in identical or different plane.
The design feature of humanoid robot foot section of the present invention is lain also in：Described followed by joint, interior metatarsal joints, outer metatarsal close
Section and halluces joint are that spring is arranged between the both side plate of " u "-shaped spring steel plate, respectively corresponding with robot is met
The flexibility and damping capaicty that position requires.
The design feature of humanoid robot foot section of the present invention is lain also in：The calcaneum, interior metatarsal, outer metatarsal and halluces
Lower face is set as curved surface, and the surface of lower face is provided with damping and slide-prevention layer.
The characteristics of control method of humanoid robot foot section of the present invention is：Linear drives are arranged on robot lower limb to fill
It sets, and there is flexible cable to be connected between linear drive apparatus and calcaneum, interior metatarsal, outer metatarsal and halluces, pass through straight line
Driving device simultaneously pulls calcaneum, interior metatarsal, outer metatarsal and halluces using flexible cable by the action of setting, realizes that robot foot section closes
Save the driving and control of rotation.
Compared with the prior art, the present invention has the beneficial effect that：
1, humanoid robot foot section of the present invention fully imitates human foot walking by the switching for mode of contacting to earth to difference
When contact to earth mode and behavioral performance, can effectively support emulation of the robot to human body walking gait, realize that gait is steady.
2, five kinds of ways of contact, which may be implemented, in the present invention is respectively：Calcaneum lower end single-point support, rear foot bottom stress triangle
It supports, two foot bottom stress triangles simultaneously support, preceding foot bottom stress triangular support, halluces single-point support.When heel
When ground followed by single-point support is wanted can bear ground shock power caused by moving forward due to centre of body weight；In another monopodia swung enough
Driving phase, vola is first by rear stress triangular support and then by rear stress triangular support stress triangular support mistake forward
It crosses, is conducive to the Forward that single foot stablizes support whole body and centre of body weight；Finally in the tiptoe liftoff phase, halluces can provide enough
Support force and position state control, help body Forward, steadily centre of body weight is sent on another foot, helps to realize machine
People's stabilization, gentle walking.
2, the present invention has in structure with people's similar medial longitudinal arch, lateral longitudinal arch and crossbows enough, when robot foot bottom
When contacting to earth, the adaptability on foot contact ground can effectively be enhanced by the Passive deformation of longitudinal arch, crossbows, effectively absorb vola
Ground shock, can more store elastic energy of deformation, lifting and swinging forward energy is provided for foot, improve the speed of travel and
Stride.Three arch of foots are flexible five bar close loop mechanisms, and using astragalus as common bow top, bow foot merges two-by-two, and formation is based on
The triple foot mechanisms in parallel in space of flexible five bar closed loops, to have structural stability.Bend the elastic tension elements simulation at bottom
Three arch of foots of plantar fascia pair provide support respectively, and each arch of foot has the independence and designability in structure and performance.
3, there are one ankle-joint mounting surfaces in the upper surface of astragalus by the present invention, and the company with shank can be realized by ankle-joint
It connects.Calcaneum, interior metatarsal, outer metatarsal, soft on halluces is pulled using the linear drive apparatus for being arranged in shank position on astragalus
Suo Kong, to realize the coordination driving and control to ankle-joint followed by joint, interior metatarsal joints, outer metatarsal joints and halluces joint
System realizes that robot to the bionical of the driving of human body walking and controlling mechanism, is advantageously implemented the simple of robot control system
Flexibly, the steady and not stiff of gait is realized.
4, the present invention has the halluces structure of active drive and control so that can be dynamic according to walking when robot ambulation
State Equilibrium Equivalent Concentration criterion, bending stiffness and pose to halluces joint be adjusted, realize to walking dynamic equilibrium into
The advantageous fine tuning of row, enhancing robot ambulation stability improve the speed of travel and stride.
5, it is connected by elastic tension elements between each adjacent bone of the present invention, by these elastic tension elements
Parameter designing can meet the different performance requirement in each joint.These joints and three arch of foots itself just have passively certainly in structure
It is the characteristics of by spending, not only similar enough to people in structure, moreover it is possible to reduce the open-loop gain of kinematic parameter, improve control stability.
6, the lower face of the calcaneum of apery foot, inside and outside metatarsal and halluces is set as curved surface in the present invention, and surface is inlayed
There is damping and slide-prevention layer, is conducive to improve robot ambulation stability, especially steadily tides over the single-point support stage.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is each elastic tension elements structure chart in the present invention；
Fig. 3 is the linear drives trace-diagram in apery foot outside in the present invention；
Fig. 4 is the linear drives trace-diagram of apery footstep planning in the present invention；
Figure label：Metatarsal joints in 1,2 first elastic tension elements, 3 calcaneum, 4 followed by joint, 5 astragalus, 6 outer metatarsals
Joint, 7 second elastic tension elements, 8 outer metatarsals, 9 third elasticity tension elements, metatarsal in 10,11 halluces joints, 12 big thumbs
Toe, 13 spring steel plates, 14 springs, 15 first flexible cables, 16 second flexible cables, 17 third flexible cables, 18 the 4th flexible cables, 19 the 5th flexible cables,
20 the 6th flexible cables, 21 the 7th flexible cables.
Specific implementation mode
Referring to Fig. 1, the structure type of humanoid robot foot section is in the present embodiment：
One upper plate is set as astragalus 5, the rear end face of astragalus 5 is plane, and the front end face vertical view of astragalus 5 is V-shaped,
There is symmetrical outside front ends face and inside front ends face, three rod pieces are on 5 rear end face of astragalus and front end face on " V " shape front end face
The support in three forces is formed to astragalus 5；Three rod pieces are respectively：
Calcaneum 3, the upper end by followed by joint 4 be supported on the rear end face of astragalus 5；
Interior metatarsal 10, the upper end are supported on the inside front ends face of astragalus 5 by interior metatarsal joints 1；
Outer metatarsal 8, the upper end are supported on the outside front ends face of astragalus 5 by outer metatarsal joints 6；
It is rear vertex, the rear foot bottom stress triangle of tip backwards to form a lower end with calcaneum 3；Interior metatarsal 10 and outer
The lower end of metatarsal 8 is respectively inside vertex and the outer point of rear foot bottom stress triangle；The upper surface of astragalus 5 passes through ankle-joint
It is connect with robot lower limb.
In specific implementation, it is connected by elastic tension elements between each two supporting point of rear foot bottom stress triangle,
It is formed with three Spatial Parallel arch of foots that astragalus 5 is bow top, is respectively：
With calcaneum 3, interior metatarsal 10, astragalus 5, and the first elastic tension being connected between calcaneum 3 and interior metatarsal 10 is first
The medial longitudinal arch that part 2 is constituted；With calcaneum 3, outer metatarsal 8, astragalus 5, and the second bullet for being connected between calcaneum 3 and outer metatarsal 8
Property tension elements 7 constitute lateral longitudinal arch；Within metatarsal 10, astragalus 5, outer metatarsal 8, and be connected to interior metatarsal 10 and astragalus 5
Between third elasticity tension elements 9 constitute crossbows.
Plantar fascia is simulated with first the 2, second elastic tension elements 7 of elastic tension elements and third elasticity tension elements 9
Support is provided respectively to three arch of foots；Arch of foot can effectively absorb the ground shock in vola, store elastic energy of deformation, for carrying for foot
It rises and swings forward and energy is provided, improve the speed of travel and stride.Three arch of foots are flexible five bar close loop mechanisms, are made with astragalus
For common bow top, bow foot merges two-by-two, the triple foot mechanisms in parallel in space based on flexible five bar closed loops is formed, to have
Structural stability.Each arch of foot has independence and designability in structure and performance.
One halluces 12 is set, and halluces 12 is flexibly connected proximally by halluces joint 11 under interior metatarsal 10
End, the distal end that halluces 12 extends forward are downwardly convex as preceding vertex；Vertex was formed with inside vertex and outer point in the past
Tip preceding foot bottom stress triangle facing forward, preceding foot bottom stress triangle and rear foot bottom stress triangle be total to side and be in it is identical or
In different planes.
The common edge of robot foot section two triangles when walking can applied elongation so that two by the triangle of forces one
In a plane, realize from rear stress triangular support smoothly transitting to preceding stress triangular support.Foot and ground when walking
Contact phase is respectively formed calcaneum lower end single-point support, rear foot bottom stress triangular support, two foot bottom stress triangles simultaneously
Support, preceding foot bottom stress triangular support and halluces single-point support, it is consistent with the mode of contacting to earth when human locomotion.When heel
When ground followed by single-point support is wanted can bear ground shock power caused by moving forward due to centre of body weight；In another monopodia swung enough
Driving phase, vola is first by rear stress triangular support and then by rear stress triangular support stress triangular support mistake forward
It crosses, is conducive to the Forward that single foot stablizes support whole body and centre of body weight；Finally in the tiptoe liftoff phase, there is active drive and control
The halluces of system can provide enough support forces and the control of position state, help robot accurate according to the stability of walking dynamic equilibrium
Then, the bending stiffness and pose in halluces joint are adjusted, help that steadily centre of body weight is sent on another foot,
Realize it is robot stabilized, smoothly walk.
It is respectively arranged with flexible cable hole on calcaneum 3, interior metatarsal 10, outer metatarsal 8 and halluces 12；Followed by it is joint 4, interior
Metatarsal joints 1, outer metatarsal joints 6 and halluces joint 11 respectively have flexibility and the shock-absorbing for meeting robot corresponding site requirement
Ability, in the present embodiment followed by joint 4, interior metatarsal joints 1, outer metatarsal joints 6 and halluces joint 11 are using as shown in Figure 2
Structure type is the setting spring 14 between the both side plate of " U " spring steel plate 13.
It sets the lower face of calcaneum 3, interior metatarsal 10, outer metatarsal 8 and halluces 12 to curved surface in the present embodiment, is conducive to
It is steadily contacted with ground when robot ambulation；The surface of lower face is provided with damping and slide-prevention layer, it can be in robot ambulation
Play the role of damping and slide-prevention.
In the present embodiment the control method of humanoid robot foot section be linear drive apparatus is set on robot lower limb, and
There is flexible cable to be connected between linear drive apparatus and each flexible cable hole, by linear drive apparatus using flexible cable by the dynamic of setting
Make to pull calcaneum 3, interior metatarsal 10, outer metatarsal 8 and halluces 12, realizes the driving and control of robot foot section articulation.
Fig. 3 show walking for the first flexible cable 15, the second flexible cable 16, third flexible cable 17, the 4th flexible cable 18 and the 5th flexible cable 19
Line chart, wherein first flexible cable one end is connected on the outside of root bone, the other end is connected to astragalus upper end；Second flexible cable one end is connected to outer
On the downside of metatarsal, the other end is connected to astragalus upper end；Third flexible cable one end is connected on the inside of root bone, and the other end is connected on astragalus
End；4th flexible cable one end is connected to outer metatarsal upper end, and the other end is connected to astragalus upper end；5th flexible cable one end is connected to interior metatarsal
Upper end, the other end are connected to astragalus upper end.
Fig. 4 show the trace-diagram of the 6th flexible cable 20 and the 7th flexible cable 21, wherein the 6th flexible cable one end is connected to interior metatarsal
Lower end, the other end are connected to astragalus upper end；7th flexible cable one end is connected on the inside of halluces, the other end pass through halluces joint,
Interior metatarsal is connected to astragalus upper end.
Claims (3)
1. a kind of control method of humanoid robot foot section, it is characterized in that：
The structure type of the humanoid robot foot section is：
One upper plate is set as astragalus (5), the rear end face of astragalus (5) is plane, and the front end face vertical view of astragalus (5) is V-shaped,
There is symmetrical outside front ends face and inside front ends face, three rod pieces are in astragalus (5) rear end face and front end face on " V " shape front end face
On to astragalus (5) formed three forces support；Three rod pieces are respectively：Calcaneum (3), the upper end by followed by joint (4) prop up
Support the rear end face in astragalus (5)；Interior metatarsal (10), the upper end are supported on the inside front ends of astragalus (5) by interior metatarsal joints (1)
Face；Outer metatarsal (8), the upper end are supported on the outside front ends face of astragalus (5) by outer metatarsal joints (6)；One is formed with calcaneum
(3) lower end is rear vertex, the rear foot bottom stress triangle of tip backwards；Distinguish the lower end of interior metatarsal (10) and outer metatarsal (8)
Inside vertex for rear foot bottom stress triangle and outer point；The upper surface of astragalus (5) passes through ankle-joint and robot lower limb
Connection；It is connected by elastic tension elements between each two supporting point of foot bottom stress triangle after described, is formed with astragalus
(5) it is three Spatial Parallel arch of foots for bending top, is respectively：With calcaneum (3), interior metatarsal (10), astragalus (5), and be connected to
The medial longitudinal arch that the first elastic tension elements (2) between bone (3) and interior metatarsal (10) are constituted；With calcaneum (3), outer metatarsal (8),
Astragalus (5), and lateral longitudinal arch that the second elastic tension elements (7) for being connected between calcaneum (3) and outer metatarsal (8) are constituted；
Within metatarsal (10), astragalus (5), outer metatarsal (8), and the third elasticity that is connected between interior metatarsal (10) and astragalus (5) by
The crossbows for drawing element (9) to constitute；One halluces (12) is set, and halluces (12) connects proximally by halluces joint (11) are flexible
It is connected on the lower end of interior metatarsal (10), the distal end that halluces (12) extends forward is downwardly convex to be used as preceding vertex；In the past vertex with it is interior
Side vertex and outer point form tip preceding foot bottom stress triangle facing forward, preceding foot bottom stress triangle and rear foot bottom stress three
Angular side altogether is simultaneously in identical or different plane；
The control method of the humanoid robot foot section is：
Linear drive apparatus is set on robot lower limb, and has flexible cable to be connected to linear drive apparatus and calcaneum (3), interior
Between metatarsal (10), outer metatarsal (8) and halluces (12), drawn by linear drive apparatus and using flexible cable by the action of setting
Dynamic calcaneum (3), interior metatarsal (10), outer metatarsal (8) and halluces (12), realize the driving and control of robot foot section articulation
System.
2. the control method of humanoid robot foot section according to claim 1, it is characterized in that：It is described followed by joint (4), interior
Metatarsal joints (1), outer metatarsal joints (6) and halluces joint (11) are set between the both side plate of " u "-shaped spring steel plate (13)
Spring (14) is set, respectively there is the flexibility and damping capaicty for meeting robot corresponding site requirement.
3. the control method of humanoid robot foot section according to claim 1, it is characterized in that：Calcaneum (3), interior metatarsal
(10), the lower face of outer metatarsal (8) and halluces (12) is set as curved surface, and the surface of lower face is provided with damping and slide-prevention
Layer.
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| CN201610921484.2A CN106364587B (en) | 2014-12-26 | 2014-12-26 | A kind of control method of humanoid robot foot section |
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| CN201610921484.2A CN106364587B (en) | 2014-12-26 | 2014-12-26 | A kind of control method of humanoid robot foot section |
| CN201410834069.4A CN104590417B (en) | 2014-12-26 | 2014-12-26 | A kind of humanoid robot foot section |
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| CN105292297B (en) * | 2015-11-21 | 2017-05-03 | 吉林大学 | Bionic foot capable of improving gait naturality and stability of biped robot |
| CN105856217B (en) * | 2016-05-11 | 2017-10-03 | 哈尔滨工程大学 | Four bar tensioning entirety robot |
| CN108100074B (en) * | 2017-12-25 | 2020-06-05 | 中科新松有限公司 | Foot structure of robot |
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| CN109533083B (en) * | 2019-01-16 | 2020-07-14 | 清华大学 | Pneumatic bionic six-foot wall-climbing robot |
| CN110539303A (en) * | 2019-08-01 | 2019-12-06 | 北京鲲鹏神通科技有限公司 | Humanoid walking robot |
| CN110920768B (en) * | 2019-12-20 | 2021-02-19 | 浙江大学 | Flexible foot structure of biped robot |
| US20230391410A1 (en) * | 2020-10-20 | 2023-12-07 | Università Di Pisa | Adaptive robotic foot |
| CN113212592B (en) * | 2021-05-17 | 2022-04-08 | 中国北方车辆研究所 | Adjustable foot end of legged robot |
| CN114148428B (en) * | 2021-12-10 | 2022-10-21 | 北京理工大学 | Multifunctional damping foot structure of robot |
| CN114852212B (en) * | 2022-06-16 | 2023-02-07 | 北京理工大学 | Foot buffer device of humanoid robot |
| CN115112161A (en) * | 2022-06-16 | 2022-09-27 | 北京理工大学 | Touchdown detection method of humanoid robot based on foot buffer device |
| CN117452931A (en) * | 2023-10-16 | 2024-01-26 | 之江实验室 | Walking control method, device and storage medium of humanoid robot |
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| KR100571829B1 (en) * | 2004-02-06 | 2006-04-17 | 삼성전자주식회사 | Structure, foot structure and robot employing the same |
| JP2006068872A (en) * | 2004-09-03 | 2006-03-16 | Honda Motor Co Ltd | Leg type mobile robot |
| KR20090036092A (en) * | 2009-03-03 | 2009-04-13 | 목원대학교 산학협력단 | The mechanism of generating pushing up force in the foot of the biped robot |
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2014
- 2014-12-26 CN CN201410834069.4A patent/CN104590417B/en not_active Expired - Fee Related
- 2014-12-26 CN CN201610921484.2A patent/CN106364587B/en not_active Expired - Fee Related
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| JP2009202761A (en) * | 2008-02-28 | 2009-09-10 | Ihi Corp | Mobile robot and its control method |
| EP2347866A1 (en) * | 2010-01-18 | 2011-07-27 | Samsung Electronics Co., Ltd. | Humanoid robot and walking control method thereof |
| CN203020441U (en) * | 2013-01-17 | 2013-06-26 | 常州先进制造技术研究所 | Quasi-man robot foot |
| CN103738428A (en) * | 2013-12-27 | 2014-04-23 | 天津科技大学 | Human-like biped robot foot structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104590417B (en) | 2016-11-23 |
| CN106364587A (en) | 2017-02-01 |
| CN104590417A (en) | 2015-05-06 |
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