CN107719506A - A kind of leg structure and the sufficient formula mobile platform using the structure - Google Patents
A kind of leg structure and the sufficient formula mobile platform using the structure Download PDFInfo
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- CN107719506A CN107719506A CN201710895234.0A CN201710895234A CN107719506A CN 107719506 A CN107719506 A CN 107719506A CN 201710895234 A CN201710895234 A CN 201710895234A CN 107719506 A CN107719506 A CN 107719506A
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- thigh
- pole
- knee joint
- shank
- drive rod
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of sufficient formula mobile platform the invention provides leg structure and using the structure, leg structure include thigh pole, shank pole, knee joint governor motion；Knee joint governor motion includes thigh support plate, knee joint motor, link assembly, and thigh pole is fixedly connected with thigh support plate；Link assembly includes thigh drive rod, thigh drive link, knee joint connecting portion；Shank pole is rotatablely connected thigh pole by knee joint connecting portion；Thigh drive rod includes fixing end, free end；Thigh drive link includes upper connection end, lower connection end；Fixing end connects knee joint motor, and upper connection end is rotatablely connected free end；Lower connection end is rotatablely connected knee joint connecting portion；Thigh drive rod drives thigh drive rod rotation, is further driven to the rotation of shank pole.The present invention uses bar linkage structure, and processing peace is conveniently；Motor quantity is few, and cost is low；The free degree is greatly reduced, control is sensitive, and conformability is strong.
Description
Technical field
A kind of sufficient formula mobile platform the present invention relates to leg structure and using the structure.
Background technology
Legged type robot is a kind of with redundant drive, highly branched chain, the Intelligent robot of time-varying topology motion, is related to
An and comprehensive high-tech product to biology, bionics, theory of mechanisms, sensing technology and the information processing technology etc..Sufficient formula
Robot relies on its discontinuous contact characteristic with ground in the process of walking, shows very strong adaptability, is especially having
There is broader development prospect on the passage of barrier or on very inapproachable work-yard, therefore be widely used in speedily carrying out rescue work
The disaster relief, the exploration of the removal of mines explosive, address, amusement and the field such as civilian.
Chinese patent 201510648107.1 discloses a kind of legged mobile robot leg structure, including supporting mechanism and pull bar
Mechanism, supporting mechanism include upper leg support member, middle leg support member and lower leg support member, and drag link mechanism includes upper connecting rod and drop-down
Bar；Lower leg support member is rotatablely connected with middle leg support member；Middle leg support member is rotatablely connected with upper leg support member；One end of lower pull bar
It is rotatablely connected with upper leg support member；The other end of lower pull bar is rotatablely connected with lower leg support member；Lower pull bar, upper leg support member, under
Leg support member, middle leg support member form a parallelogram sturcutre；Upper connecting rod one end is rotatablely connected with middle leg support member, another
End is connected with the reduction gearing in the hip joint motor of legged mobile robot body.
Chinese patent 201010147716.6 discloses a kind of biped walking bionic robot, including fuselage, two connections
Linkage, two foot mechanisms and control device, fuselage are connected with two foot mechanisms, and foot mechanism is respectively left foot portion mechanism
With right foot mechanism, left foot portion mechanism and right foot mechanism are simultaneously listed in the left and right sides below fuselage, and connection linkage connects respectively
Pick body and foot mechanism, and the structure of left foot portion mechanism is identical with the structure of right foot mechanism, including leg pole, turning rudder
Machine, rotating bar, sole, steering wheel connector and rotating disk, the upper and lower ends of leg pole are connected with fuselage and rotating bar respectively, rotating bar
Both ends be connected on sole, turning steering wheel is fixed on the top of sole, and below sole, steering wheel connector is fixed on rotating disk
The lower section of turning steering wheel is simultaneously connected with rotating disk；Control device is connected with fuselage and foot mechanism respectively.
Chinese patent 201410551408.8 discloses a kind of biped robot quickly to walk, and the biped robot is by watching
Take motor, electric machine support, drive bevel gear, driven wheel of differential, check pawl, ratchet cam group, ratchet connecting pin, active spine
Pawl, swing rod, roller connecting pin, roller, shank, compression spring, screw rod, thigh and pin composition.Servomotor drives active conical tooth
Wheel rotates, and so as to drive a pair of driven wheels of differential being symmetrically installed to rotate in opposite directions, and then causes thigh swing；Shank is being pressed
Swing is longer than by " flexible " supporting leg of shank with the cam contact in ratchet cam group all the time in the presence of contracting spring
Leg.
The defects of above-mentioned technical proposal, is：
1st, total quality is big, and motor used is more；
2nd, leg structure is complicated, and movement inertia is big；
3rd, control process is cumbersome, and control accuracy is low.
The content of the invention
It is the defects of for prior art, the invention provides a kind of leg structure and flat using the sufficient formula movement of the mechanism
Platform, its is simple in construction, and control is sensitive, has stronger load capacity；Motor quantity is few, be convenient to process and mount, cost is low,
Reliability is high；Leg structure realizes that distal end drives using pull bar, and movement inertia is small.
To achieve these goals, on the one hand, the invention provides a kind of leg structure, including：Thigh pole, shank branch
Bar, the knee joint governor motion for driving shank pole to swing；
Knee joint governor motion includes thigh support plate, knee joint motor, link assembly, and thigh pole is fixedly connected
Thigh support plate；Link assembly includes thigh drive rod, thigh drive link, knee joint connecting portion；Shank pole passes through knee joint
Connecting portion is rotatablely connected thigh pole；
Thigh drive rod includes fixing end, free end；Thigh drive link includes upper connection end, lower connection end；Fixing end connects
Knee joint motor is connect, upper connection end is rotatablely connected free end；Lower connection end is rotatablely connected knee joint connecting portion；
Thigh drive rod drives thigh drive rod rotation, is further driven to the rotation of shank pole.
The present invention realizes that the lotus root between multiple free degree parts that are mutually related is closed by setting link-type leg structure,
The rotation of shank pole is realized by knee joint motor, reaches the effect of apery motion.
According to another embodiment of the present invention, leg structure further comprises intending pedal plate, intends pedal plate and is provided with
Connector, intend pedal plate and shank pole is rotatablely connected by connector.
According to another embodiment of the present invention, leg structure also includes being used to adjust ankle-joint governor motion.
According to another embodiment of the present invention, ankle-joint governor motion is link-type governor motion, and it includes
Ankle-joint motor, shank drive rod, shank drive link；The fixing end of shank drive rod is fixedly connected with ankle-joint driving electricity
Machine, the free end of the upper connection end rotation connection shank drive rod of shank drive link；The lower connection end of shank drive link, which rotates, to be connected
Connect plan pedal plate.
In this programme, the action process of ankle-joint is realized by linkage, realizes the apery design for intending pedal plate.Same thigh
The driving principle of pole, it is similar to intend type of drive and the type of drive of shank pole of pedal plate, is driven by ankle-joint motor
The action of dynamic shank drive rod, so as to drive shank drive link, realize the rotation process for intending pedal plate.
According to another embodiment of the present invention, ankle-joint governor motion is telescopic adjustment mechanism, and it includes
For driving the flexible telescope motor of shank pole, rigid connection part, Flexible Connector, intend pedal plate hind paw and pass through rigid connection
Part connects ankle-joint connecting portion, intends pedal plate forefoot and connects shank pole by Flexible Connector.In this programme, rigid connection part
For steel wire rope, Flexible Connector is spring, by changing the motion of telescopic shank pole, realizes the rotation process for intending pedal plate,
Because shank pole is during stretching or retraction, the partial distance for intending being connected with steel wire rope on pedal plate is constant, and foot is intended in connection
Plate and the spring of shank pole occur stretching or compressing (i.e. not by the state of external force) accordingly, so as to realize intend pedal plate with it is small
The action of the imitative ankle-joint of leg pole junction.
According to another embodiment of the present invention, knee joint motor is provided with transmission component.Conventional electricity
Machine minimum speed is larger, typically needs to carry out reduction of speed processing to motor in use, is adjusted to suitable sufficient formula mobile platform
Speed, to reach the state of easy motion.
According to another embodiment of the present invention, transmission component is Bevel Gear Transmission component or belt transmission group
Part.
The part being associated in knee joint, ankle-joint is subjected to lotus root conjunction by linkage or telescoping mechanism in the present invention
Processing, greatly reduces the free degree in leg structure, simplifies structure, reduce the usage quantity of motor, reduce cost.
On the other hand, the invention provides a kind of mobile platform using said structure, it further comprises hip, hip
Including hip supporting plate, the transverse axis being located in hip supporting plate, two groups of side-swing mechanisms being oppositely arranged；Side-swing mechanism includes activity
Support, power transmission shaft, travel(l)ing rest are rotatably assorted with transverse axis, and drive axis is arranged on travel(l)ing rest, power transmission shaft and transverse axis phase
It is mutually vertical；Transverse axis is provided with drive bevel gear, and power transmission shaft is provided with the driven wheel of differential engaged with drive bevel gear, on power transmission shaft
It is additionally provided with reduction assemblies；Thigh support plate connects power transmission shaft by reduction assemblies.
By reduction assemblies in the present invention, uneven stability of the leg structure in motion process is slow down, largely
Cut down during gear drive due to the problems such as being rocked caused by the displacement between fit clearance or component.
According to another embodiment of the present invention, mobile platform also includes being used for the liter for adjusting travel(l)ing rest position
Descending mechanism, elevating mechanism includes, lifting motor, screw mandrel, sliding block, active connection；Lifting motor is located in hip supporting plate, silk
Bar is fixed in hip supporting plate, and sliding block is liftably located on screw mandrel, active connection one end rotation connection sliding block, the other end
It is rotatablely connected stir yourself support.
According to another embodiment of the present invention, belt wheel transmission part or sprocket wheel are provided between lifting motor and screw mandrel
Driving member or gear driving member.
In the present invention, simplified by the action that is mutually related between hip joint, knee joint, ankle-joint will be present, one
Aspect reduces the number of motor, alleviates overall weight, another conveniently to simplify overall control process, makes action
It is sensitiveer.
Compared with prior art, the present invention is advantageous in that：
1st, it is convenient using bar linkage structure, processing peace；
2nd, motor quantity is few, and cost is low；
3rd, the free degree is greatly reduced, control is sensitive, and conformability is strong.
The present invention is described in further detail below in conjunction with the accompanying drawings.
Brief description of the drawings
Fig. 1 is a kind of overall structure diagram of leg structure of embodiment 1；
Fig. 2 is a kind of status architecture schematic diagram of leg structure of embodiment 1；
Fig. 3 is a kind of overall structure diagram of sufficient formula mobile platform of embodiment 2；
Fig. 4 is a kind of part-structure schematic diagram of sufficient formula mobile platform of embodiment 2, and which show hip.
Embodiment
Embodiment 1
Present embodiments provide a kind of leg structure, as shown in Figure 1-2, it include thigh pole 11, shank pole 12,
Knee joint governor motion 13, intend pedal plate 14, ankle-joint governor motion 15.
Wherein, knee joint governor motion 13 includes thigh support plate 131, knee joint motor 132, thigh drive rod
133rd, thigh drive link 134, knee joint connecting portion 135, the first travelling gear 136, the second travelling gear 137, thigh pole 11
It is fixedly connected with thigh support plate 131；Shank pole 12 is rotatablely connected thigh pole 11 by knee joint connecting portion 135；Knee joint
Motor passes through one end of the first travelling gear, the second travelling gear drive connection thigh drive rod 133, thigh drive rod
133 other end connects the upper end of thigh drive link 134 by first rotating shaft 138, and the lower end of thigh drive link 134 passes through second
Rotating shaft 139 connects knee joint connecting portion.
The action process of knee joint governor motion is：The driving cog of travelling gear-second of knee joint motor-first
Wheel-thigh drive rod-first rotating shaft-thigh drive link-knee joint connecting portion-shank pole.
Ankle-joint governor motion 15 is link-type governor motion, including ankle-joint motor 151, shank drive rod 152,
Shank drive link 153；One end of shank drive rod 152 is fixedly connected with ankle-joint motor, the other end of shank drive rod 152
The upper end of shank drive link 153 is connected by the 3rd rotating shaft 154, the lower end of shank drive link 153 is connected by the 4th rotating shaft 155
Intend pedal plate 14, intend pedal plate 14 and be provided with connector 141, intend pedal plate 14 and shank pole 12 is connected by the connector 141.
The action process of ankle-joint governor motion is：Ankle-joint motor-shank drive rod-shank drive link-plan
Pedal plate.
Embodiment 2
A kind of sufficient formula mobile platform is present embodiments provided, as shown in Figure 3-4, it includes platform body 21, the first side-sway
Mechanism 22, the second side-swing mechanism 23, elevating mechanism 24, thigh pole 25, shank pole 26, knee joint governor motion 27, plan foot
Plate 28, ankle-joint governor motion 29.
Wherein, platform body 21 is provided with hip supporting plate 211, transverse axis 212, and transverse axis 212 is located at hip supporting plate 211 and leaned on
The position of nearly bottom, it which is provided with drive bevel gear 213 and the transverse axis motor 213 for driving transverse axis 212 to rotate.First
Side-swing mechanism 22 includes the first travel(l)ing rest 221, the first power transmission shaft 222, the first driven wheel of differential 223；Second side-swing mechanism 23
Including the second travel(l)ing rest 231, second driving shaft 232, the second driven wheel of differential 233；First the 221, second activity of travel(l)ing rest
Support 231 is oppositely arranged, and transverse axis 212 is also cross the first travel(l)ing rest 221, the second travel(l)ing rest 231, and the first travel(l)ing rest
221st, the second travel(l)ing rest 231 is rotated relative to transverse axis 212 and set, and the first power transmission shaft 222, second driving shaft 232 are each perpendicular to
Transverse axis 212 is set in the same plane, and engaged with drive bevel gear 213 first is provided with the first power transmission shaft 222 from mantle
Gear 223, the second driven wheel of differential 233 engaged with drive bevel gear 213 is provided with second driving shaft 232.Passed first
The position that moving axis 222, second driving shaft 232 are connected with leg is equipped with reductor 214, the purpose that reductor 214 is set be for
Reduction leg separate with close up during, due to whole mobile flat caused by the skew of gear engagement spatial conjugate position
Platform leaning forward or swinging back.
First side-swing mechanism, the second side-swing mechanism realize the fore-aft motion of leg, and its course of work is：Transverse axis motor
Transverse axis is driven to rotate forward (or reversion), so as to drive drive bevel gear to rotate, because the first driven wheel of differential, second are from mantle tooth
Wheel is oppositely arranged and is each perpendicular to drive bevel gear, therefore the leg being connected with the first power transmission shaft, the leg that is connected with second driving shaft
Portion is moved forward and backward respectively, realizes the fore-aft motion in two legs portion.
Elevating mechanism 24 includes lifting motor, screw mandrel 241, lifting slider 242, first the 245, second activity of active connection
Connector 256, wherein, lifting motor is rotated by belt drive screw 241, is further driven to the lifting fortune of lifting slider 242
It is dynamic, first level axle 243, the second trunnion axis 244 are provided with lifting slider 242.The one end of first active connection 245 passes through
One trunnion axis 243 is rotatablely connected lifting slider 242, and the other end connects the first travel(l)ing rest 221；Second active connection 256 1
End is rotatablely connected lifting slider 242 by the second trunnion axis 244, and the other end connects the second travel(l)ing rest 231.
Elevating mechanism realizes the separated with closing up of leg structure, and its course of work is：Lifting motor drives screw mandrel to rotate, and rises
Drop sliding block lifts along leading screw, and further, the first adjustable shelf that lifting slider driving is connected with the first active connection turns
The second adjustable shelf that is dynamic, being connected with the second active connection rotates, and realizes angle between the first power transmission shaft, second driving shaft
Change, realize separating with closing up for two legs portion.
Knee joint governor motion 27 includes thigh support plate 271, knee joint motor 272, thigh drive rod 273, big
Leg drive link 274, knee joint connecting portion 275, the first travelling gear 276, the second travelling gear 277, thigh pole 25, which is fixed, to be connected
Connect thigh support plate 273；Shank pole 26 is rotatablely connected thigh pole 25 by knee joint connecting portion 275；Knee joint driving electricity
Machine 272 passes through one end of the first travelling gear 276, the drive connection thigh drive rod 273 of the second travelling gear 277, thigh driving
The other end of bar 273 connects the upper end of thigh drive link 274 by first rotating shaft 278, and the lower end of thigh drive link 274 passes through the
Two rotating shafts 279 connection knee joint connecting portion 275.
The action process of knee joint governor motion is：The driving cog of travelling gear-second of knee joint motor-first
Wheel-thigh drive rod-first rotating shaft-thigh drive link-knee joint connecting portion-shank pole.
Ankle-joint governor motion 29 is link-type governor motion, including ankle-joint motor 291, shank drive rod 292,
Shank drive link 293；One end of shank drive rod 292 is fixedly connected with ankle-joint motor 291, shank drive rod 292 it is another
One end connects the upper end of shank drive link 293 by the 3rd rotating shaft 294, and the lower end of shank drive link 293 passes through the 4th rotating shaft 295
Pedal plate 28 is intended in connection, intends pedal plate 28 and is provided with connector 281, intends pedal plate 28 and connects shank pole 26 by the connector 281.
The action process of ankle-joint governor motion is：Ankle-joint motor-shank drive rod-shank drive link-plan
Pedal plate.
Although the present invention is disclosed above with preferred embodiment, the scope that the present invention is implemented is not limited to.Any
The those of ordinary skill in field, it is when a little improvement can be made, i.e., every according to this hair in the invention scope for not departing from the present invention
Bright done equal improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of leg structure, it is characterised in that the leg structure includes thigh pole, shank pole, described for driving
The knee joint governor motion that shank pole swings；
The knee joint governor motion includes thigh support plate, knee joint motor, link assembly, and the thigh pole is fixed
Connect the thigh support plate；The link assembly includes thigh drive rod, thigh drive link, knee joint connecting portion；It is described small
Leg pole is rotatablely connected the thigh pole by the knee joint connecting portion；
The thigh drive rod includes fixing end, free end；The thigh drive link includes upper connection end, lower connection end；It is described
Fixing end connects the knee joint motor, and the upper connection end is rotatablely connected the free end；The lower connection end rotates
Connect the knee joint connecting portion；
The thigh drive rod drives the thigh drive rod rotation, is further driven to the shank pole and rotates.
2. leg structure as claimed in claim 1, it is characterised in that the leg structure further comprises intending pedal plate, described
Intend pedal plate and be provided with connector, the plan pedal plate is rotatablely connected the shank pole by the connector.
3. leg structure as claimed in claim 2, it is characterised in that the leg structure also includes being used to adjust the plan foot
The ankle-joint governor motion of plate.
4. leg structure as claimed in claim 3, it is characterised in that the ankle-joint governor motion is that link-type adjusts machine
Structure, it includes ankle-joint motor, shank drive rod, shank drive link；The fixing end of the shank drive rod is fixedly connected
The ankle-joint motor, the upper connection end of the shank drive link are rotatablely connected the free end of the shank drive rod；Institute
The lower connection end for stating shank drive link is rotatablely connected the plan pedal plate.
5. leg structure as claimed in claim 3, it is characterised in that the ankle-joint governor motion is telescopic adjustment machine
Structure, it includes being used for the telescope motor, rigid connection part, Flexible Connector for driving the shank pole flexible, the plan pedal plate
Hind paw connects the ankle-joint connecting portion by the rigid connection part, and the plan pedal plate forefoot passes through the elastic connection
Part connects the shank pole.
6. leg structure as claimed in claim 1, it is characterised in that the knee joint motor is provided with transmission component.
7. leg structure as claimed in claim 6, it is characterised in that the transmission component is Bevel Gear Transmission component or belt
Transmission component.
A kind of 8. mobile platform using one of the claim 1-7 leg structures, it is characterised in that the mobile platform
Further comprise hip, the hip include hip supporting plate, the transverse axis being located in the hip supporting plate, be oppositely arranged two
Group side-swing mechanism；The side-swing mechanism includes travel(l)ing rest, power transmission shaft, and the travel(l)ing rest is rotatably assorted with the transverse axis, institute
State drive axis to be arranged on the travel(l)ing rest, the power transmission shaft is mutually perpendicular to the transverse axis；The transverse axis is provided with
Drive bevel gear, the power transmission shaft are provided with the driven wheel of differential engaged with the drive bevel gear, also set on the power transmission shaft
There are reduction assemblies；The thigh support plate connects the power transmission shaft by the reduction assemblies.
9. mobile platform as claimed in claim 8, it is characterised in that the mobile platform also includes being used to adjust the activity
The elevating mechanism of backing positions, the elevating mechanism includes, lifting motor, screw mandrel, sliding block, active connection；The lifting electricity
Machine is located in the hip supporting plate, and the screw mandrel is fixed in the hip supporting plate, and the sliding block is liftably located at institute
State on screw mandrel, described active connection one end is rotatablely connected the sliding block, and the other end is rotatablely connected the stir yourself support.
10. mobile platform as claimed in claim 9, it is characterised in that band is provided between the lifting motor and the screw mandrel
Take turns driving member or sprocket wheel transmission piece or gear driving member.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710895234.0A CN107719506A (en) | 2017-09-27 | 2017-09-27 | A kind of leg structure and the sufficient formula mobile platform using the structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710895234.0A CN107719506A (en) | 2017-09-27 | 2017-09-27 | A kind of leg structure and the sufficient formula mobile platform using the structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107719506A true CN107719506A (en) | 2018-02-23 |
Family
ID=61207064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710895234.0A Pending CN107719506A (en) | 2017-09-27 | 2017-09-27 | A kind of leg structure and the sufficient formula mobile platform using the structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107719506A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407918A (en) * | 2018-04-25 | 2018-08-17 | 江南大学 | A kind of gas balance robot |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN111688838A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Biped robot lower limb structure based on modular joints |
| CN111942496A (en) * | 2020-08-21 | 2020-11-17 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
| CN115946795A (en) * | 2023-03-10 | 2023-04-11 | 之江实验室 | Foot type robot with light leg characteristics |
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| WO2004020159A1 (en) * | 2002-08-28 | 2004-03-11 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN103879470A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Single-leg robot jumping mechanism driven through connecting rod |
| CN105730551A (en) * | 2016-04-20 | 2016-07-06 | 重庆足步科技有限公司 | Semi-passive dynamic biped walking device with halving upper body |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2004020159A1 (en) * | 2002-08-28 | 2004-03-11 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
| CN103860358A (en) * | 2014-02-25 | 2014-06-18 | 北京航空航天大学 | Thigh and shank device with knee joint parameter measurement suitable for exoskeleton auxiliary supporting robot |
| CN103879470A (en) * | 2014-03-21 | 2014-06-25 | 浙江大学 | Single-leg robot jumping mechanism driven through connecting rod |
| CN105730551A (en) * | 2016-04-20 | 2016-07-06 | 重庆足步科技有限公司 | Semi-passive dynamic biped walking device with halving upper body |
| CN105905183A (en) * | 2016-05-13 | 2016-08-31 | 重庆足步科技有限公司 | Upper body-halving walking device |
| CN106005079A (en) * | 2016-05-24 | 2016-10-12 | 浙江大学 | Single-leg robot jumping mechanism with active ankle joint and bionic foot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407918A (en) * | 2018-04-25 | 2018-08-17 | 江南大学 | A kind of gas balance robot |
| CN108407918B (en) * | 2018-04-25 | 2023-12-01 | 江南大学 | Gas balance robot |
| CN109367643A (en) * | 2018-11-02 | 2019-02-22 | 常州大学 | A kind of Four-feet creeping bio-robot based on link mechanism |
| CN109367643B (en) * | 2018-11-02 | 2021-03-16 | 常州大学 | Four-foot crawling bionic robot based on connecting rod structure |
| CN111688838A (en) * | 2020-06-18 | 2020-09-22 | 敬科(深圳)机器人科技有限公司 | Biped robot lower limb structure based on modular joints |
| CN111942496A (en) * | 2020-08-21 | 2020-11-17 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
| CN111942496B (en) * | 2020-08-21 | 2021-06-08 | 常州大学 | Mechanical stepping leg for biped obstacle crossing robot |
| CN115946795A (en) * | 2023-03-10 | 2023-04-11 | 之江实验室 | Foot type robot with light leg characteristics |
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