CN107416063A - A kind of achievable spherical Hexapod Robot for rolling, walking - Google Patents
A kind of achievable spherical Hexapod Robot for rolling, walking Download PDFInfo
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- CN107416063A CN107416063A CN201710221542.5A CN201710221542A CN107416063A CN 107416063 A CN107416063 A CN 107416063A CN 201710221542 A CN201710221542 A CN 201710221542A CN 107416063 A CN107416063 A CN 107416063A
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- lower limb
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
Abstract
The invention belongs to Multifeet walking robot technical field, discloses a kind of achievable spherical Hexapod Robot for rolling, walking, including：12 valve shells, six upper limbs, two disks, 12 curved bars, six lower limb；Six supports are fixed by screws on disk, and six upper limbs are separately fixed on six supports；Six suite bars are fixed by screw rod between upper disk, lower disc；One lower limb is installed per suite bar；Six upper limbs, two digital rudder controllers and a valve shell are installed on each upper limbs；Described two disks install six curved bars respectively；12 curved bars, two are one group, are divided into six groups, one lower limb of every group of connection；Six lower limb, two digital rudder controllers and a valve shell are each installed.The present invention it is simple in construction, it is easy to accomplish, moderate cost；It is controlled using Arduino single-chip microcomputers and servos control plate, control accuracy is high, and operation difficulty is small；There are good mobility and adaptability, real work efficiency high.
Description
Technical field
The invention belongs to Multifeet walking robot technical field, more particularly to a kind of achievable rolling, spherical the six of walking
Biped robot.
Background technology
The place that some mankind can not reach and the spy that human life may be jeopardized in nature and human society be present
Different occasion.The surface of such as outer celestial body, mine, Fire prevention and the struggle against terror occasion that disaster occurs, to these hazardous environments
Constantly explore and study, turn into scientific technological advance and human society so as to seek the feasible way of a solution problem
Progressive common need.Conventional research shows：Wheel type mobile mode has quite when being travelled in the landform of relatively flat
Advantage, speed is fast, vibrations are small, and structure and control are also relatively simple, but when being travelled on uneven ground, energy consumption will greatly increase, and
On soft terrain or serious rugged landform, the effect of wheel also substantially reduces serious loss movement efficiency.In order to
Improve wheel to the adaptability of soft terrain and uneven ground, crawler-type mobile mode is arisen at the historic moment, but caterpillar type robot
Mobility on uneven ground is still very poor, and fuselage rocks seriously during traveling.Compared with wheeled, caterpillar mobile robot,
The movement locus of Multifeet walking robot is the footmark of series of discrete, only needs discrete point to contact ground during motion, to ring
The destructiveness in border is smaller, can select the optimal strong point on the ground that may be reached, to the strong adaptability of rugged topography,
Therefore, Multifeet walking robot has unique superiority on rugged road surface, still, on more smooth road surface
On, the mobility of Multifeet walking robot is too poor, and operating efficiency is not high.In Multifeet walking robot field, it is existing at present into
It is few to roll the research being combined with polypody walking in terms of cooking technique is mostly multi-foot walking.So can without mature technology
Directly to use, or even use for reference the object referred to and be all difficult to search.
In summary, the problem of prior art is present be：The driving energy led leg in the process of walking due to the mankind is simultaneously
Muscle working is non-fully derived from, but some derives from gravity acting, the wheel efficiency that this allows for the mankind is very high.And
If Multifeet walking robot carries out passive movement using gravity, its motion mode will be very restricted, due to this
The good solution of control algolithm neither one that kind is walked using gravity so that current Multifeet walking robot is more
Mobility is too poor on smooth road surface, and operating efficiency is not high.
The content of the invention
The problem of existing for prior art, the invention provides a kind of achievable spherical six sufficient machines for rolling, walking
People.
The present invention is achieved in that a kind of achievable spherical Hexapod Robot for rolling, walking, the achievable rolling
Dynamic, walking spherical Hexapod Robot is provided with：
12 valve shells, six upper limbs, two disks, 12 curved bars, six lower limb；
Six supports are uniformly fixed on disk by screw, and six upper limbs are separately fixed on six supports；
Six suite bars are fixed by screw rod between upper disk, lower disc；
One lower limb is installed per suite bar；
Six upper limbs, two digital rudder controllers and a valve shell are installed on each upper limbs；
Described two disks install six curved bars respectively；
12 curved bars, two are one group, are divided into six groups, one lower limb of every group of connection；
Six lower limb, two digital rudder controllers and a valve shell are each installed.
Further, each upper limbs is provided with two digital rudder controllers.
Further, the digital rudder controller that two roundels are fixed is installed between upper disk, lower disc；
The digital rudder controller is connected with driving wheel, a driven pulley is installed on each screw rod, between driven pulley and driving wheel
Occlusion；Driving wheel is provided with the digital rudder controller driving among two roundels.
Further, each lower limb are made up of two digital rudder controllers；A digital rudder controller is installed in the centre of each curved bar, leads to
Digital rudder controller is crossed to be attached with lower limb.
Further, upper limbs is attached by support and disk, in the bracket between room in place Arduino single-chip microcomputers
With servos control plate.
Further, six supports, the corresponding upper limbs of each support are additionally provided between the upper limbs and disk；
Six supports are fixed by screws in disk；
The curved bar is attached by screws on described two disks；
A digital rudder controller is fixed by screw between described two disks；One main tooth is installed on the digital rudder controller
Wheel；The master gear engages through lower disc with described six from gear.
Another object of the present invention is to provide a kind of realization rolling, the walking for the spherical Hexapod Robot walked reality
Existing method, the walking implementation method include：
Step 1, using a lower limb and the upper limbs corresponding with it as one group, then altogether can be divided into six groups, by
The upper computer software built on PC is communicated with servos control plate, is debugged out six action groups, is allow it to complete to stretch
With the action closed up, it is 1 to be numbered --- 6, the corresponding one group of upper and lower extremities of each action group；
Step 2, communicated by the upper computer software built on PC with servos control plate, to robot lower limb
Debugged with the steering wheel among disk, it is realized the change from six foot-shape states to spherical morphology, this group is acted and ordered
Entitled action group 7；Utilize same method, it is possible to achieve from spherical morphology to the change of six foot-shape states, this group of action naming
For action group 8.Because robot is different with the data passed back during spherical morphology by six axle sensors in six foot-shape states so that single
Piece machine can send different instructions according to different data；
Step 3, when surface conditions are preferable, user is sent by bluetooth to robot becomes spherical morphology instruction,
The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in six
Foot-shape state, then the action group 7 stored in servos control plate is called, is changed into spherical morphology.If robot is in spherical morphology,
Arduino single-chip microcomputers never call the action group stored in servos control plate；
Step 4, when user sends spherical rolling order, data that single-chip microcomputer is passed back according to six axle sensors judge
Source the top that group, if the 6th group be in topmost, single-chip microcomputer according to 6-1-2-3-4-5-6 order call storage
The action group in servos control plate be present, the expansion by four limbs changes the center of gravity of robot, realize spherical rolling work(with closing up
Energy；
Step 5, when surface conditions are poor, user is sent by bluetooth to robot becomes the instruction of six foot-shape states,
The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in ball
Shape form, then the action group 8 stored in servos control plate is called, is changed into spherical morphology.If robot is in six foot-shape states,
Arduino single-chip microcomputers never call the action group stored in servos control plate；
Step 6, when user sends six foot walking orders, before Arduino single-chip microcomputers calling in servos control plate
The action group relevant with six foot walkings of storage, it is by the forward and backward foot on the left of spherical Hexapod Robot lower limb and the mesopodium on right side
One group, the forward and backward foot on right side and the mesopodium in left side are another group, separately constitute two triangular supports, by being moved before and after lower limb
The dynamic six foot walkings for realizing robot.
Advantages of the present invention and good effect are：In order to seek a balance between mobility and adaptability, one is proposed
The spherical Hexapod Robot for rolling, walking can be achieved in kind.On more smooth road surface, robot by inside bluetooth module,
Receive the instruction for becoming spherical state that user sends so that own form is close to spherical.Afterwards, matching somebody with somebody by upper and lower extremities
Close, change itself center of gravity, realized and rolled using gravity, due to the effect of gravity, the power consumption of robot itself is few, is performing
Efficiency high during task.In addition, compared to the crawling exercises mode of Hexapod Robot, the rolling movement mode speed of ball shape robot
Faster, rub smaller, therefore, the mobility of ball shape robot is more preferable.When pavement behavior is complex, the motion side of rolling
Formula is too big to the structural impact of robot, in order to mitigate this impact, ball shape robot is changed into Hexapod Robot, is obtained with this
More preferable adaptability.
The achievable robot of present invention survival ability good under complex road condition, improves its mobility, so as to expand it
Application, using it as carrier, its expansible function, offered convenience for the production of people, life.For prior art not
Foot, the present invention is intended to provide a kind of achievable spherical Hexapod Robot for rolling, walking, by being set to robot physical arrangement
Count and to the foot walking of robot six and research, optimization and the debugging of spherical rolling algorithm, complete the walking and rolling of robot.
The present invention structure it is simple, it is easy to accomplish, moderate cost；Carried out using Arduino single-chip microcomputers and servos control plate
Control, control accuracy is high, and operation difficulty is small；Existing good mobility, there are good adaptability, real work efficiency high again.
Brief description of the drawings
Fig. 1 is the achievable spherical Hexapod Robot structural representation for rolling, walking provided in an embodiment of the present invention.
Fig. 2 be it is provided in an embodiment of the present invention be Fig. 1 first half structural representations.
Fig. 3 is middle main rudder machine provided in an embodiment of the present invention and engaged gears figure.
Fig. 4 is Fig. 1 provided in an embodiment of the present invention intermediate structure schematic diagram.
Fig. 5 is Fig. 1 lower half provided in an embodiment of the present invention structural representation.
Fig. 6 is curved bar connection lower limb structure schematic diagram provided in an embodiment of the present invention.
Fig. 7 is upper limbs fixed support schematic diagram provided in an embodiment of the present invention.
Fig. 8 is power fixture structure schematic diagram provided in an embodiment of the present invention.
In figure：1st, shell；2nd, upper limbs；3rd, disk；4th, curved bar；5th, lower limb；6th, support；7th, upper disk；8th, lower disc；9th, it is main
Driving wheel；10th, driven pulley；11st, curved bar.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As Figure 1-Figure 8, the achievable spherical Hexapod Robot for rolling, walking provided in an embodiment of the present invention includes：
Shell 1, upper limbs 2, disk 3, curved bar 4, lower limb 5, support 6, upper disk 7, lower disc 8, driving wheel 9, driven pulley 10, curved bar 11.
The achievable spherical Hexapod Robot for rolling, walking provided in an embodiment of the present invention includes upper, middle, and lower part,
Top half is as shown in Fig. 2 wherein upper limbs 2, disk 3, support 6.Six supports 6 are uniformly fixed on disk 3 by screw,
Six upper limbs 2 are then separately fixed on six supports 6, and in order to increase the free degree of upper limbs, each upper limbs 2 has used two numerals
Steering wheel.
Intermediate structure is as shown in figure 3, wherein upper disk 7, lower disc 8, driving wheel 9, driven pulley 10, curved bar 11.In upper circle
A digital rudder controller fixed by two roundels between disk 7, lower disc 8 being present, the digital rudder controller is connected with driving wheel 9,
Between upper disk 7, lower disc 8, six suite bars 11 are fixed by screw rod so that curved bar 11 can do circumference centered on screw rod
Move, a driven pulley 10 is installed on each screw rod, does not contact between driven pulley 10, is engaged between driven pulley 10 and driving wheel 9.
Driving wheel 9 have among two roundels digital rudder controller driving, when driving wheel 9 rotates, the concomitant rotation of driven pulley 10, equipped with from
The curved bar 11 of driving wheel 10 also concomitant rotation, with this realize it is described it is achievable roll, the expansion of the spherical Hexapod Robot of walking with
Close up.
It is used for the structure of stationary digital steering wheel and curved bar 11 between the upper disk 7, lower disc 8 as shown in figure 4, needing altogether
Want six suite bars.
Following structure per suite bar 11 as shown in figure 5, install a lower limb 5, six lower limb 5 altogether, each lower limb 5 by
Two digital rudder controllers are formed, and ensure that the free degree of lower limb 5.Fig. 6 show the connected mode of curved bar 11 and lower limb 5, each
The centre of curved bar 11 is assembled with a digital rudder controller, is attached by the digital rudder controller and lower limb 5.
Fig. 7 is the support of upper limbs 2, and upper limbs 2 is attached by support 6 and disk 3, is put in the room among support 6
Put Arduino single-chip microcomputers and servos control plate.
Fig. 8 is the bottom of lower disc 8, and for fixed power source, the power supply is used for steering wheel, Arduino single-chip microcomputers and rudder
Machine control panel is powered.
The operation principle of the present invention：
The achievable spherical Hexapod Robot for rolling, walking provided in an embodiment of the present invention, is sequentially provided with ten from top to bottom
Two valve shells, six upper limbs, two disks, 12 curved bars and six lower limb.Six upper limbs, two are installed on each upper limbs
Individual digital rudder controller and a valve shell；Two disks up and down install six curved bars respectively；12 described curved bars, two are
One group, it is divided into six groups, one lower limb of every group of connection；Six described lower limb, two digital rudder controllers and a valve shell are each installed；
Described digital rudder controller is accurately controlled by servos control plate and single-chip microcomputer；It is additionally provided between the upper limbs and the disk
Six supports, the corresponding upper limbs of each support；Six supports are fixed by screws in upper disc；The curved bar is used
Screw is fixed on described two disks；Six junctions of curved bar and the lower disc on the lower disc fix six
From gear；It is described to be not in contact between each other from gear；Described two disks are fixed together by four support columns, and solid
After fixed, except described in addition to gear, it is mounted with that two disks up and down of curved bar are full symmetric；Pass through spiral shell between described two disks
Nail fixes a digital rudder controller；One master gear is installed on the digital rudder controller；The master gear passes through lower disc and described six
It is individual to be engaged from gear；12 curved bars, symmetrical above and below two curved bars are one group, are divided into six groups；The six suites bar, often
Suite bar fixes a digital rudder controller；Digital rudder controller on the six suites bar, one lower limb of every group of connection, add up under six
Limb；Six lower limb, a valve shell is fixed on each lower limb；Six supports middle device dc source, it is Arduino
Single-chip microcomputer, servos control plate and steering wheel power supply；Arduino single-chip microcomputers and servos control plate are placed between described two disks；Institute
Stating Arduino single-chip microcomputers needs integrated bluetooth and six axle sensor modules.
The achievable spherical Hexapod Robot for rolling, walking provided in an embodiment of the present invention, includes spherical rolling and six foots
Walking function, the function realizing method are as follows：
Step 1, using a lower limb and the upper limbs corresponding with it as one group, then altogether can be divided into six groups, by
The upper computer software built on PC is communicated with servos control plate, is debugged out six action groups, is allow it to complete to stretch
With the action closed up, it is 1 to be numbered --- 6, the corresponding one group of upper and lower extremities of each action group；
Step 2, communicated by the upper computer software built on PC with servos control plate, to robot lower limb
Debugged with the steering wheel among disk, it is realized the change from six foot-shape states to spherical morphology, this group is acted and ordered
Entitled action group 7；Utilize same method, it is possible to achieve from spherical morphology to the change of six foot-shape states, this group of action naming
For action group 8.Because robot is different with the data passed back during spherical morphology by six axle sensors in six foot-shape states so that single
Piece machine can send different instructions according to different data；
Step 3, when surface conditions are preferable, user is sent by bluetooth to robot becomes spherical morphology instruction,
The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in six
Foot-shape state, then the action group 7 stored in servos control plate is called, is changed into spherical morphology；If robot is in spherical morphology,
Arduino single-chip microcomputers never call the action group stored in servos control plate；
Step 4, when user sends spherical rolling order, data that single-chip microcomputer is passed back according to six axle sensors judge
Source the top that group, if the 6th group be in topmost, single-chip microcomputer according to 6-1-2-3-4-5-6 order call storage
The action group in servos control plate be present, the expansion by four limbs changes the center of gravity of robot, realize spherical rolling work(with closing up
Energy；
Step 5, when surface conditions are poor, user is sent by bluetooth to robot becomes the instruction of six foot-shape states,
The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in ball
Shape form, then the action group 8 stored in servos control plate is called, is changed into spherical morphology.If robot is in six foot-shape states,
Arduino single-chip microcomputers never call the action group stored in servos control plate；
Step 6, when user sends six foot walking orders, before Arduino single-chip microcomputers calling in servos control plate
The action group relevant with six foot walkings of storage, it is by the forward and backward foot on the left of spherical Hexapod Robot lower limb and the mesopodium on right side
One group, the forward and backward foot on right side and the mesopodium in left side are another group, separately constitute two triangular supports, by being moved before and after lower limb
The dynamic six foot walkings for realizing robot.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (7)
- A kind of 1. achievable spherical Hexapod Robot for rolling, walking, it is characterised in that the achievable ball for rolling, walking Shape Hexapod Robot is provided with：12 valve shells, six upper limbs, two disks, 12 curved bars, six lower limb；Six supports are uniformly fixed on disk by screw, and six upper limbs are separately fixed on six supports；Six suite bars are fixed by screw rod between upper disk, lower disc；One lower limb is installed per suite bar；Six upper limbs, two digital rudder controllers and a valve shell are installed on each upper limbs；Described two disks install six curved bars respectively；12 curved bars, two are one group, are divided into six groups, one lower limb of every group of connection；Six lower limb, two digital rudder controllers and a valve shell are each installed.
- 2. the spherical Hexapod Robot as claimed in claim 1 that can be achieved to roll, walk, it is characterised in that each upper limbs peace Equipped with two digital rudder controllers.
- 3. it is as claimed in claim 1 can be achieved to roll, the spherical Hexapod Robot of walking, it is characterised in that upper disk, under The digital rudder controller that two roundels are fixed is installed between disk；The digital rudder controller is connected with driving wheel, and a driven pulley is installed on each screw rod, is engaged between driven pulley and driving wheel； Driving wheel is provided with the digital rudder controller driving among two roundels.
- 4. it is as claimed in claim 1 can be achieved to roll, the spherical Hexapod Robot of walking, it is characterised in that each lower limb by Two digital rudder controllers are formed；A digital rudder controller is installed in the centre of each curved bar, is attached by digital rudder controller and lower limb.
- 5. the spherical Hexapod Robot as claimed in claim 1 that can be achieved to roll, walk, it is characterised in that upper limbs passes through branch Frame is attached with disk, in the bracket between room in place Arduino single-chip microcomputers and servos control plate.
- 6. it is as claimed in claim 1 can be achieved to roll, the spherical Hexapod Robot of walking, it is characterised in that the upper limbs and Six supports, the corresponding upper limbs of each support are additionally provided between disk；Six supports are fixed by screws in disk；The curved bar is attached by screws on described two disks；A digital rudder controller is fixed by screw between described two disks；One master gear is installed on the digital rudder controller；Institute Master gear is stated to engage from gear with described six through lower disc.
- 7. a kind of realize rolling, the walking implementation method for the spherical Hexapod Robot walked as claimed in claim 1, its feature exists In the walking implementation method includes：Step 1, using a lower limb and the upper limbs corresponding with it as one group, then it can be divided into six groups altogether, by PC On the upper computer software built communicated with servos control plate, debug out six action groups, it is completed to stretch and is closed The action held together, it is 1 to be numbered --- 6, the corresponding one group of upper and lower extremities of each action group；Step 2, communicated by the upper computer software built on PC with servos control plate, to robot lower limb and circle Steering wheel among disk is debugged, and it is realized the change from six foot-shape states to spherical morphology, is this group of action naming Action group 7；Utilize same method, it is possible to achieve from spherical morphology to the change of six foot-shape states, this group of action naming is Work group 8；Because robot is different with the data passed back during spherical morphology by six axle sensors in six foot-shape states so that single-chip microcomputer Different instructions can be sent according to different data；Step 3, when surface conditions are preferable, user is sent by bluetooth to robot becomes spherical morphology instruction, The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in six Foot-shape state, then the action group 7 stored in servos control plate is called, is changed into spherical morphology；If robot is in spherical morphology, Arduino single-chip microcomputers never call the action group stored in servos control plate；Step 4, when user sends spherical rolling order, data that single-chip microcomputer is passed back according to six axle sensors judge source That group in the top, if the 6th group is in topmost, single-chip microcomputer is called according to 6-1-2-3-4-5-6 order and is stored in Action group in servos control plate, the expansion by four limbs change the center of gravity of robot, realize spherical rolling function with closing up；Step 5, when surface conditions are poor, user is sent by bluetooth to robot becomes the instruction of six foot-shape states, The data that Arduino single-chip microcomputers are passed back according to six axle sensors, robot form residing at present is judged, if robot is in ball Shape form, then the action group 8 stored in servos control plate is called, is changed into six foot-shape states；If robot is in six foot-shape states, Arduino single-chip microcomputers never call the action group stored in servos control plate；Step 6, when user sends six foot walking orders, Arduino single-chip microcomputers store before calling in servos control plate With the six relevant action groups of foot walkings, be one group by the forward and backward foot on the left of spherical Hexapod Robot lower limb and the mesopodium on right side, The forward and backward foot on right side and the mesopodium in left side are another group, separately constitute two triangular supports, are realized by lower limb are movable Six foot walkings of robot.
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| CN109027516A (en) * | 2018-08-06 | 2018-12-18 | 浙江大学 | A kind of deformable ball-shape robot towards natural gas line internal detection and reparation |
| CN109278886A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of four-part form omnidirectional, which creeps, rolls quadruped robot |
| CN109909981A (en) * | 2019-04-22 | 2019-06-21 | 滨州学院 | Spherical protective device |
| CN111679672A (en) * | 2020-06-10 | 2020-09-18 | 河南科技大学 | Communication method of automatic obstacle avoidance system of snakelike-simulated inspection robot |
| CN112936218A (en) * | 2021-03-24 | 2021-06-11 | 东莞市伟创动力科技有限公司 | Multi-legged robot with rolling type working mode |
| CN113927588A (en) * | 2021-11-09 | 2022-01-14 | 绍兴文理学院 | Bent rod tensioning integral robot based on electromagnetic assembly rolling ball driving |
| CN114834560A (en) * | 2022-06-09 | 2022-08-02 | 江南大学 | Remote control six football shape-changeable robot |
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Application publication date: 20171201 |