CN106741277B - Hybrid mechanical leg mechanism - Google Patents
Hybrid mechanical leg mechanism Download PDFInfo
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- CN106741277B CN106741277B CN201510811769.6A CN201510811769A CN106741277B CN 106741277 B CN106741277 B CN 106741277B CN 201510811769 A CN201510811769 A CN 201510811769A CN 106741277 B CN106741277 B CN 106741277B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention provides a hybrid mechanical leg mechanism, which comprises a foot plate, ankle joints, cruses, knee joints, thighs, hip joints and a trunk, wherein the foot plate is connected with the ankle joints; the foot plate is used for providing a platform with unchanged posture and position for the mechanical leg; the ankle joint is used for connecting the foot plate and the shank, adopts a parallel joint and can control the motion of the rolling freedom degree and the pitching freedom degree; the ankle joint driving device comprises a shank, a first motor and a second motor, wherein the first motor and the second motor are used for driving an ankle joint; a knee joint for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; a hip joint for connecting the trunk and the thighs and mounting a fifth motor for driving the hip joint; and the trunk is used for installing a sixth motor for driving the hip joint.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of biped robots, in particular to a novel hybrid mechanical leg mechanism.
[ background of the invention ]
The traditional leg mechanism of the humanoid robot adopts a serial joint structure or a parallel joint structure.
The tandem joint structure is a joint structure adopted by most humanoid robots, can realize a leg structure with six degrees of freedom, realizes a standard spherical joint at a hip joint of the robot, and uses a standard inverse kinematics calculation method.
However, a driving motor and a reducer are required to be installed at the ankle joint of the tandem type joint at the foot plate of the robot, so that the robot has a foot plate with a large weight, and the dynamic response capability of the robot is affected.
The parallel joint structure can arrange the motor at the ankle joint at the position of the shank so as to reduce the weight of the foot plate and improve the response capability of the tail end of the mechanical leg; however, it is difficult to form a standard ball joint at the hip joint of the mechanical leg, which results in a complicated control of the humanoid robot with a parallel joint structure.
The development of modern robots requires that the robots have good motion capability and reaction speed, so that the joints of the robots are reasonable in structure, and have standard structures and control algorithms while ensuring the response speed of the tail ends.
[ summary of the invention ]
Accordingly, an object of the present invention is to provide a hybrid mechanical leg mechanism that reduces the weight of a foot plate and improves response speed.
In order to achieve the object of the present invention, there is provided a hybrid mechanical leg mechanism including a foot plate, an ankle joint, a calf, a knee joint, a thigh, a hip joint, and a trunk; the foot plate is used for providing a platform with unchanged posture and position for the mechanical leg; the ankle joint is used for connecting the foot plate and the shank and adopts a parallel joint; the shank is used for installing a first motor and a second motor for driving the ankle joint, and the first motor and the second motor are connected with the foot plate through connecting rods; the knee joint is used for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; the hip joint is used for connecting the trunk and the thighs and is provided with a fifth motor for driving the hip joint; and the trunk is used for installing a sixth motor for driving the hip joint.
Preferably, the center of gravity of the foot plate is fixed to one end of the ankle joint.
Preferably, the ankle joint is a universal joint; one end of the universal joint is fixed with the foot plate, and the other end of the universal joint is fixed with the shank.
Preferably, the knee joint is a single degree of freedom joint; one end of the single-degree-of-freedom joint is connected with the thigh, and the other end of the single-degree-of-freedom joint is connected with the shank.
Preferably, the third motor and the fourth motor convert the rotary motion of the motors into the linear motion of the sliding block through the roller screw rod; the sliding block drives the knee joint and the hip joint to rotate through the transmission of the connecting rod.
Preferably, the connecting rod for driving the hip joint in a linkage manner is a fork-shaped connecting rod.
Preferably, the hip joint is a spherical joint, and a fifth motor for driving the mechanical leg to roll is mounted on the hip joint.
Preferably, the fifth motor is driven by two-stage gears.
Preferably, the torso is connected to the hip joint by a bearing.
Different from the prior art, the hybrid mechanical leg mechanism comprises a foot plate, ankle joints, cruses, knee joints, thighs, hip joints and a trunk, wherein the ankle joints are used for connecting the foot plate and the cruses and adopt parallel joints; the first motor and the second motor are connected with the foot plate through a connecting rod; a knee joint for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; a hip joint for connecting the trunk and the thighs and mounting a fifth motor for driving the hip joint; and the trunk is used for installing a sixth motor for driving the hip joint. The ankle joint adopts a parallel joint structure, the driving motor is arranged at the position of the shank, the foot plate of the robot is driven by a rolling shaft lead screw and a connecting rod transmission mode to realize the rolling and pitching freedom degrees, the foot plate of the mechanical leg is not provided with the motor, the light weight of the motion tail end is realized, and the response speed is improved; the hip joint adopts a hybrid transmission mode combining connecting rod transmission and gear transmission, and a serial joint structure is formed, so that a standard spherical joint is realized, and the interference between different degrees of freedom is greatly avoided under the condition of meeting the motion requirement of the hip joint.
[ description of the drawings ]
Fig. 1 is a schematic front view of a hybrid mechanical leg mechanism according to an embodiment of the present invention.
Fig. 2 is a schematic side view of a hybrid mechanical leg mechanism according to an embodiment of the present invention.
Description of reference numerals:
1. a foot plate; 2. an ankle joint; 3. a lower leg; 4. a knee joint; 5. a thigh;
6. a hip joint; 7. a torso; 8. a first motor; 9. a second motor; 10. a third motor;
11. a fourth motor; 12. a fifth motor; 13. and a sixth motor.
[ detailed description ] embodiments
In order to explain technical contents, structural features, and objects and effects of the present invention in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A hybrid mechanical leg mechanism includes a foot plate, an ankle joint, a calf, a knee joint, a thigh, a hip joint, and a torso.
The foot plate is used for providing a platform with unchanged posture and position for the mechanical leg; the ankle joint is used for connecting the foot plate and the shank and adopts a parallel joint; the shank is used for installing a first motor and a second motor for driving the ankle joint, and the first motor and the second motor are connected with the foot plate through connecting rods; the knee joint is used for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; the hip joint is used for connecting the trunk and the thighs and is provided with a fifth motor for driving the hip joint; and the trunk is used for installing a sixth motor for driving the hip joint.
The invention relates to a hybrid mechanical leg mechanism, which consists of a foot plate, ankle joints, cruses, knee joints, thighs, hip joints and a trunk, wherein the ankle joints are used for connecting the foot plate and the cruses and adopt parallel joints; the first motor and the second motor are connected with the foot plate through a connecting rod; a knee joint for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; the hip joint is used for connecting the trunk and the thighs and is provided with a fifth motor for driving the hip joint; and the trunk is used for installing a sixth motor for driving the hip joint. According to the invention, the ankle joint is in a parallel joint structure, the driving motor is arranged at the shank, the foot plate of the robot is driven in a connecting rod transmission mode to realize the rolling and pitching freedom degrees, the motor is not arranged at the foot plate part of the mechanical leg, the light weight of the motion tail end is realized, and the response speed is improved.
Example 1
Referring to fig. 1 and 2, embodiment 1 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
The first motor 8 and the second motor 9 which are arranged at the lower leg 3 convert the rotary motion of the motors into linear motion in a transmission mode of a roller lead screw, and are further connected with the foot plate 1 through the ankle joint 2 in a link transmission mode, so that the pitching freedom degree and the rolling freedom degree of the ankle joint 2 are controlled according to different output angles of the motors.
Example 2
Referring to fig. 1 and 2, embodiment 2 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In the further optimization scheme, the gravity center of the foot plate 1 is fixed with one end of the ankle joint 2, so that the robot legs are arranged more stably, and two spherical connecting parts are arranged at the rear end of the foot plate 1. The foot plate 1 is the tail end of the mechanical leg, and is used for providing a platform with unchanged posture and position for the mechanical leg after the foot plate 1 is completely contacted with the ground.
Example 3
Referring to fig. 1 and 2, embodiment 3 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In a further optimized scheme, the ankle joint 2 is in a universal joint mode; one end of the universal joint is fixed with the foot plate 1, and the other end of the universal joint is fixed with the lower leg 3, so that the movement of pitching and rolling degrees of freedom between the foot plate 1 and the lower leg 3 is realized, and the movement of other degrees of freedom is limited.
Example 4
Referring to fig. 1 and 2, embodiment 4 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In a further optimized scheme, the knee joint 4 is a single-degree-of-freedom joint; wherein, one end of the single-degree-of-freedom joint is connected with the thigh 5, the other end of the single-degree-of-freedom joint is connected with the shank 3, and the bending function of the robot leg is realized through the rotation of the knee joint 4.
Example 5
Referring to fig. 1 and 2, an embodiment 5 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In a further optimized scheme, a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6 to move in a pitching degree of freedom are arranged at the thigh 5, and the third motor 10 and the fourth motor 11 convert the rotary motion of the motors into the linear motion of the sliding block in a roller screw transmission mode; further, the slider drives the rotation of the knee joint 4 and the hip joint 6 through a link transmission.
The thigh 5 is provided with a pitching motion driving motor, and the pitching motion control of the hip joint 6 is realized in a connecting rod transmission mode.
Preferably, the link for driving the hip joint 6 in a linkage manner is a fork-shaped link, so that when the robot hip joint 6 performs rolling motion, the pitching motion and the rolling motion do not interfere with each other.
Example 6
Referring to fig. 1 and 2, embodiment 6 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In a further optimized scheme, the hip joint 6 is a spherical joint, and a standard spherical joint can be adopted to connect the trunk 7 and the thigh 5, so that the axes of the three rotating shafts are perpendicular to each other and intersect with one point; further, the hip joint 6 is provided with a fifth motor 12 for driving the mechanical legs to roll.
Preferably, the fifth motor 12 drives the hip joint 6 to roll in a two-stage gear transmission manner, and particularly, the mechanical leg is ensured to have a large rolling range by the installation position of the motor and the size of the gear.
The hip joint 6 adopts a hybrid transmission mode of combining a connecting rod and a gear, so that the interference between different driving shafts is reduced, each degree of freedom has a larger movement range, and a standard spherical joint structure is adopted, so that the hip joint can be conveniently controlled by using a standard inverse kinematics algorithm.
Example 7
Referring to fig. 1 and 2, an embodiment 7 of the present invention provides a hybrid mechanical leg mechanism, which includes a foot plate 1, an ankle joint 2, a lower leg 3, a knee joint 4, an upper leg 5, a hip joint 6, and a trunk 7.
The foot plate 1 is used for providing a platform with unchanged posture and position for the mechanical leg, and has the function of integral support; an ankle joint 2 for connecting the foot plate 1 and the lower leg 3, wherein the ankle joint 2 is a parallel joint; the lower leg 3 is used for installing a first motor 8 and a second motor 9 for driving the ankle joint 2, and the first motor 8 and the second motor 9 are connected with the foot plate 1 through connecting rods; a knee joint 4 for connecting the thigh 5 and the lower leg 3; a thigh 5 for mounting a third motor 10 for driving the knee joint 4 and a fourth motor 11 for driving the hip joint 6; a hip joint 6 for connecting the trunk 7 and the thigh 5 and mounting a fifth motor 12 for driving the hip joint 6; a trunk 7 for mounting a sixth motor 13 for driving the hip joint 6.
In a further optimized scheme, the trunk 7 is connected with the hip joints 6 through bearings, a motor for driving the hip joints 6 of the mechanical legs to swing is fixed with the trunk 7, and the hip joints 6 are driven to deflect in a gear transmission mode so that the mechanical legs can turn conveniently.
According to the hybrid mechanical leg mechanism, the ankle joint is driven in a parallel mode, so that the universal joint control of pitching and rolling of the ankle joint is realized under the condition that a driving motor is not installed on a foot plate of the mechanical leg, the tail end weight of the mechanical leg is reduced, and the response speed is improved; the knee joint is driven by adopting a mode of transmission of a motor and a connecting rod, so that the single-degree-of-freedom pitching motion of the knee joint is realized; the hip joint adopts the combination of connecting rod transmission and gear transmission to realize a spherical joint structure of the hip joint; a pitching motion driving motor is arranged at the thigh and realizes the pitching motion control of the hip joint through the transmission of a connecting rod; the deflection motion and the rolling motion are driven by combining a motor and a gear transmission mode, and the adoption of the mixed mode of the invention can ensure that all rotational degrees of freedom have small interference, ensure that all rotating shafts are mutually vertical and intersect at a point to form a standard spherical joint and is beneficial to the control in the walking of both feet.
It is to be noted that, in the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrases "comprising … …" or "comprising … …" does not exclude the presence of additional elements in a process, method, article, or terminal that comprises the recited element. Further, herein, "greater than," "less than," "more than," and the like are understood to exclude the present numbers; the terms "above", "below", "within" and the like are to be understood as including the number.
Although the embodiments have been described, once they have known the basic inventive concept, other variations and modifications can be made to the embodiments by those skilled in the art, so that the above embodiments are only examples of the present invention, and not intended to limit the scope of the invention, and all equivalent structures or equivalent processes using the contents of the present specification and drawings, or any other related technical fields, are included in the scope of the present invention.
Claims (2)
1. A hybrid mechanical leg mechanism is characterized by comprising a foot plate, an ankle joint, a shank, a knee joint, a thigh, a hip joint and a trunk; the foot plate is used for providing a platform with unchanged posture and position for the mechanical leg; the ankle joint is used for connecting the foot plate and the shank and adopts a parallel joint; the first motor and the second motor are respectively connected with the foot plate through respective roller screws and connecting rods, and the connecting rods connected with the foot plate are positioned in the ankle joint; the knee joint is used for connecting the thigh and the shank; the thigh is used for installing a third motor for driving a knee joint and a fourth motor for driving a hip joint; the knee joint is driven by adopting a mode of transmission of a motor and a connecting rod, so that the single-degree-of-freedom pitching motion of the knee joint is realized;
the hip joint is used for connecting the trunk and the thighs and is provided with a fifth motor for driving the hip joint; the hip joint adopts a serial joint structure combining connecting rod transmission and gear transmission to realize a spherical joint, a fourth motor for controlling pitching motion is arranged on the thigh side, a fifth motor drives the hip joint to roll in a two-stage gear transmission mode, and the trunk is used for mounting a sixth motor for driving the hip joint;
the foot plate is fixed with one end of the ankle joint;
the ankle joint is a universal joint; one end of the universal joint is fixed with the foot plate, and the other end of the universal joint is fixed with the shank;
the knee joint is a single-degree-of-freedom joint; one end of the single-degree-of-freedom joint is connected with a thigh, and the other end of the single-degree-of-freedom joint is connected with the shank;
the third motor and the fourth motor convert the rotary motion of the motors into the linear motion of the sliding block through the roller lead screw; the sliding block drives the knee joint and the hip joint to rotate through the transmission of the connecting rod;
the connecting rod in the hip joint driven by the connecting rod transmission is a fork-shaped connecting rod;
the hip joint is a spherical joint, and a fifth motor for driving the mechanical legs to roll is mounted on the hip joint.
2. The hybrid mechanical leg mechanism of claim 1, wherein the torso is coupled to the hip joint by a bearing.
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| CN201510811769.6A CN106741277B (en) | 2015-11-20 | 2015-11-20 | Hybrid mechanical leg mechanism |
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| CN201510811769.6A CN106741277B (en) | 2015-11-20 | 2015-11-20 | Hybrid mechanical leg mechanism |
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| CN106741277B true CN106741277B (en) | 2020-10-30 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361886B (en) * | 2017-06-21 | 2019-03-08 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| WO2019047012A1 (en) * | 2017-09-05 | 2019-03-14 | 刘哲 | Robot foot capable of adapting to complex environments |
| CN107884178B (en) * | 2017-12-21 | 2019-05-28 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test mechanical arm |
| CN109969284A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Hybrid mechanical leg organization and biped robot |
| CN109050709B (en) * | 2018-08-29 | 2023-12-29 | 北京钢铁侠科技有限公司 | Driving mechanism, robot lower limb structure and robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| CN110104090A (en) * | 2019-05-16 | 2019-08-09 | 深圳市优必选科技有限公司 | Legged robot |
| CN111731407B (en) * | 2020-08-20 | 2020-12-01 | 之江实验室 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
| CN114212163A (en) * | 2021-11-17 | 2022-03-22 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
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