CN106625778A - Test platform and test method for movement control of foot type bio-robot and test method - Google Patents
Test platform and test method for movement control of foot type bio-robot and test method Download PDFInfo
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- CN106625778A CN106625778A CN201710039866.7A CN201710039866A CN106625778A CN 106625778 A CN106625778 A CN 106625778A CN 201710039866 A CN201710039866 A CN 201710039866A CN 106625778 A CN106625778 A CN 106625778A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention discloses a test platform and test method for movement control of a foot type bio-robot. The test platform comprises a ramp road surface simulating platform, a supporting and protecting mechanism and a base frame, wherein both the ramp road surface simulating platform and the supporting and protecting mechanism are arranged on the base frame, the ramp road surface simulating platform comprises square columns, air cylinders, motors, transmission belts and idler wheels, several idler wheel columns are vertically arranged between two parallel square columns, the idler columns are parallel to one another, the idler wheel columns on the two end head parts of the square columns are provided with the motors, the motors are arranged on the end heads of the idler columns, several air cylinders are arranged below the two square columns, the outer sides of the several idler wheel columns are wrapped with the transmission belts, and the transmission belts can conduct circulating rotation at the outer sides of the idler wheel columns. According to the test platform and test method for the movement control of the foot type bio-robot, the test platform simulates the outdoor movement test of the robot and simulates the external gradient road surface, the robot can change the movement velocity according to the running of a rotating belt on the ramp road surface simulating platform, a movement performance test is achieved, and the time and the cost are saved.
Description
Technical field
The invention belongs to intelligent robot technical field of measurement and test, more particularly to a kind of sufficient formula bio-robot motion control survey
Examination platform and method of testing.
Background technology
In recent years, it is continuous with related disciplines such as robot, machinery, electronics, computer, artificial intelligence, sensing detections
Progressive, research and development is difficult under the complicated terrain environment for reaching in existing vehicle, carries payload, independently completes long-distance fortune
The high-performance foot formula bio-robot of defeated task is becoming a focus of robot field.However, robot is outdoor multiple
Carry out exercise performance test under heterocycle border to be inconvenient, robot carries out exercise performance test under outdoor complex environment
When, need carrying out repeatedly to test, not only the test period is long, and expends huge human and material resources, financial resources.Meanwhile, by day
The impact of gas and other factorses.Therefore, sufficient formula bio-robot motion control test platform is set up indoors for test mould
Type has significant application value.This test platform is tested robot motion's performance test and performance for stability in real time, and is led to
Cross the devices such as sensor to feed back the kinetic characteristic under whole system dynamic condition, to motion planning and robot control, Machinery Ministry
Point carry out perfect, and then the real independent ambulation of legged type robot is prepared.This testing stand is mainly for motion planning and robot control
The problem of test, the theory for implement modern society's research and development of products cycle is short, economizing on resources builds sufficient formula bio-robot motion control
Test platform processed.
The content of the invention
It is an object of the invention to provide a kind of sufficient formula bio-robot motion control test platform and method of testing, to solve
The experimental period for certainly lacking that Indoor Robot dynamic response performance test platform causes in prior art and expends huge people at length
Power, material resources, financial resources, meanwhile, the problems such as easily impact by weather and other factorses.
For achieving the above object, the present invention is adopted the following technical scheme that：
A kind of sufficient formula bio-robot motion control test platform, including ramp test pavement simulating platform, support protection mechanism
And base frame；Ramp test pavement simulating platform, support protection mechanism are arranged on base frame；
Ramp test pavement simulating platform includes square column, cylinder, motor, transmission belt and roller；Hang down between two parallel square columns
Several roller posts are directly provided with, roller post is parallel to each other, on the roller post at two terminations of square column position motor is provided with, electricity
Machine is arranged on the termination of roller post；Some cylinders are provided with below two square columns；Several roller post outsides are enclosed with biography
Dynamic band, transmission belt can be in the outside cycle rotation of roller post；
Protection mechanism is supported to include support column, guide rail, support bar and clamping device；Four support columns are respectively perpendicular and are arranged at
On four angles of base frame upper surface；The number of guide rail is 2, and guide rail is fixedly installed between the top of two support columns, and two
Guide rail is parallel to each other；Support bar is vertically set between two guide rails, and support bar can be moved along guide rail direction；Clamping device sets
Put on support bar.
Further, it is placed with test machine people on ramp test pavement simulating platform；Test machine people includes pedipulator and machine
Body, several pedipulators are arranged around body；The end of test machine people's pedipulator is installed by force sensor；Test machine people's
Pedipulator is provided with velocity sensor with the junction of the end of pedipulator；Attitude sensing is provided with the body of test machine people
Device；Displacement transducer is provided with the cylinder of ramp test pavement simulating platform.
Further, clamping device includes shift(ing) ring, flexible strand, clamping cross bar, clamping vertical pole and slide block；On support bar
Shift(ing) ring is arranged with, shift(ing) ring can be moved on support bar；Shift(ing) ring is connected by flexible strand with clamping cross bar, clamps cross bar
Lower surface offer chute, two clamping vertical poles are provided with chute, offer on two relative two faces of clamping vertical pole
Slide block guide rail, is provided with slide block in slide block guide rail；The bottom of two clamping vertical poles is provided with slide block lever, and slide block lever can keep off
Firmly slide block.
Further, the two ends of support bar are provided with roller；The lower surface of base frame is provided with some supporting legs.
Further, cylinder is connected with air pressure pumping plant.
Further, a kind of method of testing based on sufficient formula bio-robot motion control test platform, the sufficient formula is imitated
Raw motion planning and robot control test platform includes ramp test pavement simulating platform, supports protection mechanism and base frame；Ramp test pavement simulating
Platform, support protection mechanism are arranged on base frame；
Ramp test pavement simulating platform includes square column, cylinder, motor, transmission belt and roller；Hang down between two parallel square columns
Several roller posts are directly provided with, roller post is parallel to each other, on the roller post at two terminations of square column position motor is provided with, electricity
Machine is arranged on the termination of roller post；Some cylinders are provided with below two square columns；Several roller post outsides are enclosed with biography
Dynamic band, transmission belt can be in the outside cycle rotation of roller post；
Protection mechanism is supported to include support column, guide rail, support bar and clamping device；Four support columns are respectively perpendicular and are arranged at
On four angles of base frame upper surface；The number of guide rail is 2, and guide rail is fixedly installed between the top of two support columns, and two
Guide rail is parallel to each other；Support bar is vertically set between two guide rails, and support bar can be moved along guide rail direction；Clamping device sets
Put on support bar.
Test machine people is placed with the test pavement simulating platform of ramp；Test machine people includes pedipulator and body, several
Pedipulator is arranged around body；The end of test machine people's pedipulator is installed by force sensor；The pedipulator of test machine people with
The junction of the end of pedipulator is provided with velocity sensor；Attitude transducer is provided with the body of test machine people；Ramp
Displacement transducer is provided with the cylinder of test pavement simulating platform.
Cylinder is connected with air pressure pumping plant.
The method of testing of the sufficient formula bio-robot motion control test platform, comprises the following steps：
1) start air pressure pumping plant, adjust test platform initial position, test machine people is placed on into ramp test pavement simulating and is put down
On platform；Adjust each cylinder；Test machine people is clamped with the clamping device of protection mechanism is supported；
2) in test process, test machine people is made to walk on the test pavement simulating platform of ramp by certain speed, by receiving
The sensing data at collection record test machine people's foot end, robot measurement foot end strength of one's legs；
3) in test process, make test machine people walk on the test pavement simulating platform of ramp by certain speed, adjust gas
Cylinder extension elongation, adjusts the gradient in ramp test pavement simulating platform four orientation up and down, and the simulated roadway gradient realizes machine
The simulation process that people walks under outside road environment, records the data of displacement transducer, measures road gradient value.
4) in test process, test machine people is made to walk on the test pavement simulating platform of ramp by certain speed, by receiving
The data of the velocity sensor that collection recorder people leg is filled, the robot measurement speed of travel completes to be surveyed in real time on platform
The function of amount robot movement velocity.
5) in test process, test machine people is made to walk on the test pavement simulating platform of ramp by certain speed, by receiving
Collection record test machine people's attitude force sensor data, surveys data and sufficient end force snesor surveys date comprision and obtains machine
The stability of people.
Compared with prior art, the present invention has following technique effect：
(1) test platform dummy robot outdoor exercises of the invention test, the outside gradient road surface of test platform simulation, machine
Device people can change its movement velocity according to rotational band operation on the test pavement simulating platform of ramp, realize that exercise performance is tested, during saving
Between and cost；
(2) the test platform of the invention real-time guard robot in test process, protection mechanism prevents test machine people
The situation of damage is fallen down, core component is protected.
(3) in real time robot measurement, in exercise performance and stability, the real-time robot measurement speed of travel, reaches the present invention
To the theory for implementing modern society's research and development of products cycle is short, economize on resources.Therefore, build sufficient formula bio-robot motion control to survey
Examination platform has significant application value.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is test pavement simulating platform structure schematic diagram in ramp of the present invention；
Fig. 3 supports protection mechanism structural representation for the present invention.
Wherein：1st, protection mechanism is supported；2nd, try engine people；3rd, base frame；4th, ramp test pavement simulating platform；5th, motor；6th, pass
Dynamic band；7th, cylinder；9th, roller post；10th, roller；11st, support bar；12nd, shift(ing) ring；13rd, flexible strand；14th, cross bar is clamped；15th, press from both sides
Hold vertical pole；16th, slide block lever；17th, slide block；18th, supporting leg；19th, support column；20th, guide rail；21st, square column.
Specific embodiment
Below in conjunction with accompanying drawing to the detailed description of the invention：
Refer to shown in Fig. 1 to Fig. 3, a kind of sufficient formula bio-robot motion control test platform, including ramp road surface mould
Intend platform 4, support protection mechanism 1 and base frame 3；Ramp test pavement simulating platform 4, support protection mechanism 1 is arranged on base frame 3；
Ramp test pavement simulating platform 4 is including square column 21, cylinder 7, motor 5, transmission belt 6 and roller 9；Two parallel square columns
Several roller posts 9 are vertically installed between 21, roller post 9 is parallel to each other, on the roller post 9 at 21 two terminations of square column position
Motor 5 is provided with, motor 5 is arranged on the termination of roller post 9；The lower section of two square columns 21 is provided with some cylinders 7；Several
The outside of roller post 9 is enclosed with transmission belt 6, and transmission belt 6 can be in the outside cycle rotation of roller post 9；
Protection mechanism 1 is supported to include support column 19, guide rail 20, support bar 11 and clamping device；Four support columns 19 are distinguished
It is vertically installed on four angles of the upper surface of base frame 3；The number of guide rail 20 is 2, and guide rail 20 is fixedly installed on two support columns 19
Top between, and two guide rails 20 are parallel to each other；Support bar 11 is vertically set between two guide rails 20, and support bar 11 can
Along guide rail direction movement；Clamping device is arranged on support bar 11.
Test machine people 2 is placed with ramp test pavement simulating platform 4；Test machine people 2 includes pedipulator and body, some
Individual pedipulator is arranged around body；The end of the pedipulator of test machine people 2 is installed by force sensor；The machinery of test machine people 2
Leg is provided with velocity sensor with the junction of the end of pedipulator；Attitude transducer is provided with the body of test machine people 2；
Displacement transducer is provided with the cylinder 7 of ramp test pavement simulating platform 4.
Clamping device includes shift(ing) ring 12, flexible strand 13, clamping cross bar 14, clamping vertical pole 15 and slide block 17；In support bar
Shift(ing) ring 12 is arranged with 11, shift(ing) ring 12 can be moved on support bar 11；Shift(ing) ring 12 is horizontal with clamping by flexible strand 13
Bar 14 connects, and the lower surface for clamping cross bar 14 offers chute, and two clamping vertical poles 15, two clamping vertical poles are provided with chute
Slide block guide rail is offered on 15 two relative faces, slide block 17 is provided with slide block guide rail；The bottom of two clamping vertical poles 15 sets
Slide block lever 16 is equipped with, slide block lever 16 can block slide block 17.
The two ends of support bar 11 are provided with roller 10；The lower surface of base frame 3 is provided with some supporting legs 18.
Cylinder 7 is connected with air pressure pumping plant.
The operation principle of the present invention：
1) start air pressure pumping plant, adjust test platform initial position, test machine people 2 is placed on into ramp test pavement simulating and is put down
On platform 4；Adjust each cylinder 7；Test machine people 2 is clamped with the clamping device of protection mechanism 1 is supported；
2) in test process, make test machine people 2 walk on ramp test pavement simulating platform 4 by certain speed, pass through
Collect the sensing data at the sufficient end of record test machine people 2, robot measurement foot end strength of one's legs；
3) in test process, make test machine people 2 walk on ramp test pavement simulating platform 4 by certain speed, adjust
The extension elongation of cylinder 7, adjusts the gradient in four orientation up and down of ramp test pavement simulating platform 4, and the simulated roadway gradient is realized
The simulation process that robot walks under outside road environment, records the data of displacement transducer, measures road gradient value.
4) in test process, make test machine people 2 walk on ramp test pavement simulating platform 4 by certain speed, pass through
The data of the velocity sensor that recorder people leg is filled are collected, the robot measurement speed of travel is completed on platform in real time
The function of robot measurement movement velocity.
5) in test process, make test machine people 2 walk on ramp test pavement simulating platform 4 by certain speed, pass through
The attitude force sensor data of record test machine people 2 is collected, data is surveyed and is surveyed date comprision with foot end force snesor and obtain
The stability of robot.
Claims (6)
1. a kind of sufficient formula bio-robot motion control test platform, it is characterised in that including ramp test pavement simulating platform (4),
Support protection mechanism (1) and base frame (3)；Ramp test pavement simulating platform (4), support protection mechanism (1) are arranged at base frame (3)
On；
Ramp test pavement simulating platform (4) includes square column (21), cylinder (7), motor (5), transmission belt (6) and roller (9)；Two are put down
Several roller posts (9) are vertically installed between capable square column (21), roller post (9) is parallel to each other, (21) two terminations of square column
Motor (5), termination of the motor (5) installed in roller post (9) are provided with the roller post (9) at position；Two square columns (21)
Lower section is provided with some cylinders (7)；Several roller post (9) outsides are enclosed with transmission belt (6), and transmission belt (6) can be in rolling
The outside cycle rotation of wheel post (9)；
Protection mechanism (1) is supported including support column (19), guide rail (20), support bar (11) and clamping device；Four support columns
(19) it is respectively perpendicular on four angles for being arranged at base frame (3) upper surface；The number of guide rail (20) is 2, and guide rail (20) is fixedly installed
Between the top of two support columns (19), and two guide rails (20) are parallel to each other；Support bar (11) is vertically set on two and leads
Between rail (20), support bar (11) can be moved along guide rail direction；Clamping device is arranged on support bar (11).
2. a kind of sufficient formula bio-robot motion control test platform according to claim 1, it is characterised in that ramp road
Test machine people (2) is placed with face analog platform (4)；Test machine people (2) including pedipulator and body, several pedipulators
Arrange around body；The end of test machine people (2) pedipulator is installed by force sensor；The pedipulator of test machine people (2) with
The junction of the end of pedipulator is provided with velocity sensor；Attitude transducer is provided with the body of test machine people (2)；Slope
Displacement transducer is provided with the cylinder (7) of road surface analog platform (4).
3. a kind of sufficient formula bio-robot motion control test platform according to claim 1, it is characterised in that clamping machine
Structure includes shift(ing) ring (12), flexible strand (13), clamping cross bar (14), clamping vertical pole (15) and slide block (17)；In support bar (11)
On be arranged with shift(ing) ring (12), shift(ing) ring (12) can be moved on support bar (11)；Shift(ing) ring (12) is by flexible strand (13)
It is connected with clamping cross bar (14), the lower surface for clamping cross bar (14) offers chute, two clamping vertical poles is provided with chute
(15), slide block guide rail is offered on two clamping vertical pole (15) relative two faces, slide block (17) is provided with slide block guide rail；Two
The bottom of individual clamping vertical pole (15) is provided with slide block lever (16), and slide block lever (16) can block slide block (17).
4. a kind of sufficient formula bio-robot motion control test platform according to claim 1, it is characterised in that support bar
(11) two ends are provided with roller (10)；The lower surface of base frame (3) is provided with some supporting legs (18).
5. a kind of sufficient formula bio-robot motion control test platform according to claim 1, it is characterised in that cylinder
(7) it is connected with air pressure pumping plant.
6. a kind of method of testing based on sufficient formula bio-robot motion control test platform, it is characterised in that the sufficient formula is imitated
Raw motion planning and robot control test platform includes ramp test pavement simulating platform (4), supports protection mechanism (1) and base frame (3)；Ramp
Test pavement simulating platform (4), support protection mechanism (1) are arranged on base frame (3)；
Ramp test pavement simulating platform (4) includes square column (21), cylinder (7), motor (5), transmission belt (6) and roller (9)；Two are put down
Several roller posts (9) are vertically installed between capable square column (21), roller post (9) is parallel to each other, (21) two terminations of square column
Motor (5), termination of the motor (5) installed in roller post (9) are provided with the roller post (9) at position；Two square columns (21)
Lower section is provided with some cylinders (7)；Several roller post (9) outsides are enclosed with transmission belt (6), and transmission belt (6) can be in rolling
The outside cycle rotation of wheel post (9)；
Protection mechanism (1) is supported including support column (19), guide rail (20), support bar (11) and clamping device；Four support columns
(19) it is respectively perpendicular on four angles for being arranged at base frame (3) upper surface；The number of guide rail (20) is 2, and guide rail (20) is fixedly installed
Between the top of two support columns (19), and two guide rails (20) are parallel to each other；Support bar (11) is vertically set on two and leads
Between rail (20), support bar (11) can be moved along guide rail direction；Clamping device is arranged on support bar (11)；
Test machine people (2) is placed with ramp test pavement simulating platform (4)；Test machine people (2) including pedipulator and body, if
Dry pedipulator is arranged around body；The end of test machine people (2) pedipulator is installed by force sensor；Test machine people (2)
The junction of end of pedipulator and pedipulator be provided with velocity sensor；Appearance is provided with the body of test machine people (2)
State sensor；Displacement transducer is provided with the cylinder (7) in ramp test pavement simulating platform (4)；
Cylinder (7) is connected with air pressure pumping plant；
The method of testing of the sufficient formula bio-robot motion control test platform, comprises the following steps：
1) start air pressure pumping plant, adjust test platform initial position, test machine people (2) is placed on into ramp test pavement simulating platform
(4) on；Adjust each cylinder (7)；Test machine people (2) is clamped with the clamping device of protection mechanism (1) is supported；
2) in test process, make test machine people (2) walk on ramp test pavement simulating platform (4) by certain speed, pass through
Collect the sensing data at record test machine people (2) foot end, robot measurement foot end strength of one's legs；
3) in test process, make test machine people (2) walk on ramp test pavement simulating platform (4) by certain speed, adjust
Cylinder (7) extension elongation, adjusts the gradient in ramp test pavement simulating platform (4) four orientation up and down, the simulated roadway gradient,
The simulation process that robot walks under outside road environment is realized, the data of displacement transducer are recorded, road gradient value is measured；
4) in test process, make test machine people (2) walk on ramp test pavement simulating platform (4) by certain speed, pass through
The data of the velocity sensor that recorder people leg is filled are collected, the robot measurement speed of travel is completed on platform in real time
The function of robot measurement movement velocity；
5) in test process, make test machine people (2) walk on ramp test pavement simulating platform (4) by certain speed, pass through
Record test machine people (2) attitude force sensor data is collected, data is surveyed and is surveyed date comprision with sufficient end force snesor
Obtain the stability of robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710039866.7A CN106625778B (en) | 2017-01-19 | 2017-01-19 | Motion control test platform and test method for foot-type bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710039866.7A CN106625778B (en) | 2017-01-19 | 2017-01-19 | Motion control test platform and test method for foot-type bionic robot |
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| Publication Number | Publication Date |
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| CN106625778A true CN106625778A (en) | 2017-05-10 |
| CN106625778B CN106625778B (en) | 2023-05-26 |
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ID=58841179
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| CN201710039866.7A Active CN106625778B (en) | 2017-01-19 | 2017-01-19 | Motion control test platform and test method for foot-type bionic robot |
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| CN110375733A (en) * | 2019-08-08 | 2019-10-25 | 中国科学院自动化研究所 | Cross gantry legged type robot test platform |
| CN110919698A (en) * | 2019-12-21 | 2020-03-27 | 上海有个机器人有限公司 | Device and method for testing robot threshold-passing life |
| CN111086026A (en) * | 2020-01-07 | 2020-05-01 | 吉林大学 | Bionic robot foot pad and ground acting force test bench |
| CN111546374A (en) * | 2020-03-25 | 2020-08-18 | 之江实验室 | Active traction protection system applied to walking test of foot type robot |
| CN111693090A (en) * | 2020-06-10 | 2020-09-22 | 上海有个机器人有限公司 | Robot pavement environment aging test method, medium, terminal and device |
| CN111823274A (en) * | 2020-03-25 | 2020-10-27 | 之江实验室 | Foot type robot walking test protection platform based on stay wire encoder principle |
| CN112356075A (en) * | 2020-11-27 | 2021-02-12 | 北京小米移动软件有限公司 | Test method and device, test equipment and storage medium |
| CN112792848A (en) * | 2020-12-30 | 2021-05-14 | 北京精密机电控制设备研究所 | Climbing robot test method, device and system |
| CN113485309A (en) * | 2021-08-03 | 2021-10-08 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device and system, robot controller and medium |
| CN113829390A (en) * | 2021-11-27 | 2021-12-24 | 陕西中科文鼎信息科技有限公司 | Multi-state test platform for artificial intelligent robot |
| CN114770601A (en) * | 2022-05-11 | 2022-07-22 | 武汉科技大学 | Foot type robot motion experiment table |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375733A (en) * | 2019-08-08 | 2019-10-25 | 中国科学院自动化研究所 | Cross gantry legged type robot test platform |
| CN110919698A (en) * | 2019-12-21 | 2020-03-27 | 上海有个机器人有限公司 | Device and method for testing robot threshold-passing life |
| CN111086026A (en) * | 2020-01-07 | 2020-05-01 | 吉林大学 | Bionic robot foot pad and ground acting force test bench |
| CN111546374A (en) * | 2020-03-25 | 2020-08-18 | 之江实验室 | Active traction protection system applied to walking test of foot type robot |
| CN111823274A (en) * | 2020-03-25 | 2020-10-27 | 之江实验室 | Foot type robot walking test protection platform based on stay wire encoder principle |
| CN111546374B (en) * | 2020-03-25 | 2021-11-19 | 之江实验室 | Active traction protection system applied to walking test of foot type robot |
| CN111693090A (en) * | 2020-06-10 | 2020-09-22 | 上海有个机器人有限公司 | Robot pavement environment aging test method, medium, terminal and device |
| CN112356075B (en) * | 2020-11-27 | 2022-07-29 | 北京小米移动软件有限公司 | Test method and device, test equipment and storage medium |
| CN112356075A (en) * | 2020-11-27 | 2021-02-12 | 北京小米移动软件有限公司 | Test method and device, test equipment and storage medium |
| CN112792848A (en) * | 2020-12-30 | 2021-05-14 | 北京精密机电控制设备研究所 | Climbing robot test method, device and system |
| CN112792848B (en) * | 2020-12-30 | 2022-11-22 | 北京精密机电控制设备研究所 | Climbing robot testing method, device and system |
| CN113485309A (en) * | 2021-08-03 | 2021-10-08 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device and system, robot controller and medium |
| CN113485309B (en) * | 2021-08-03 | 2022-12-02 | 乐聚(深圳)机器人技术有限公司 | Robot testing method, device, system, robot controller and medium |
| CN113829390B (en) * | 2021-11-27 | 2022-02-15 | 陕西中科文鼎信息科技有限公司 | Multi-state test platform for artificial intelligent robot |
| CN113829390A (en) * | 2021-11-27 | 2021-12-24 | 陕西中科文鼎信息科技有限公司 | Multi-state test platform for artificial intelligent robot |
| CN114770601A (en) * | 2022-05-11 | 2022-07-22 | 武汉科技大学 | Foot type robot motion experiment table |
| CN114770601B (en) * | 2022-05-11 | 2023-03-21 | 武汉科技大学 | Foot type robot motion experiment table |
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| CN106625778B (en) | 2023-05-26 |
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