CN107856756A - A kind of bionical quadruped robot of allosteric type - Google Patents
A kind of bionical quadruped robot of allosteric type Download PDFInfo
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- CN107856756A CN107856756A CN201711057881.0A CN201711057881A CN107856756A CN 107856756 A CN107856756 A CN 107856756A CN 201711057881 A CN201711057881 A CN 201711057881A CN 107856756 A CN107856756 A CN 107856756A
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- joint
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- steering wheel
- calf
- hip joint
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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
Abstract
The present invention discloses a kind of bionical quadruped robot of allosteric type, belongs to the fields such as robotics, theory of mechanisms and bionics.Physical mechanical structure of the present invention includes 4 variable configuration list leg structures and body.Every variable configuration list leg structure includes 4 frees degree, i.e., including the first hip joint, the second hip joint, big leg joint, four joints of calf joint.First hip joint is directly connected with body, and its joint rotating shaft is perpendicular to body plane, in the form of the traveling creeped with big leg joint, calf joint aggregate motion by realizing insect formula.Second hip joint is connected with the first hip joint, and its joint shaft parallel is in body plane, with big leg joint, calf joint aggregate motion in the form of realizing the traveling of mammal walking.The present invention has the quadruped mammal formula walking for being capable of free switching concurrently and four-footed insect formula is creeped two kinds of traveling forms, and structure can't be complicated, so as to realize higher functional requirement, has stronger environmental suitability.
Description
Technical field
The invention belongs to the fields such as robotics, theory of mechanisms and bionics, are related to a kind of bionical quadruped robot of allosteric type,
With can free switching two kinds of configurations of mammal and insect formula.
Background technology
Multifeet walking robot is one important branch of modern machines human science domain, and it generally can be divided into double by the number of leg
Biped robot, quadruped robot and Hexapod Robot.Relative to wheeled robot and caterpillar robot, Multifeet walking robot by
In its discontinuous support the characteristics of, there is extremely strong terrain adaptability and kinematic dexterity.Relative to biped robot, four-footed machine
Device people has more preferable bearing capacity and stability, and more simple in construction than Hexapod Robot, easily controllable.It is comprehensive from engineering viewpoint
It is best sufficient formula machine to close R＆D costs, make various aspects, the quadruped robots such as difficulty, control method and the stability of a system
Device person form.
And quadruped robot generally can be divided into imitative quadruped mammal and imitative four-footed according to its mechanical leg joint arrangement
Two kinds of insect.The characteristics of imitative quadruped mammal formula leg mechanism is joint shaft parallel that single leg is connected with body in machine
Body plane, leg is collapsed below body during robot ambulation, is travelled forward by kicking.Therefore its advantage be bearing capacity it is high,
Kinematic dexterity is good, and shortcoming is that supporting zone is small, center of gravity is higher, less stable.On the contrary, imitative four-footed insect formula leg
The characteristics of portion mechanism is the joint rotating shaft that is connected with body of single leg perpendicular to fuselage plane, and leg is deployed in this during robot ambulation
Body both sides, are travelled forward by swinging kick.Therefore its advantage is that supporting zone is big, center of gravity is low, stability is good, and shortcoming is load capacity
It is low, kinematic dexterity is poor.
The content of the invention
For traditional imitative quadruped mammal robot and imitative four-footed insect leg mechanism of robot feature and work(
Energy characteristic, to improve the environmental suitability of robot and meeting higher functional requirement, the present invention proposes that a kind of allosteric type is bionical
Quadruped robot, the particular design of lactation-insect variable configuration is carried out to every Tiao Tui branches, to realize that the two function is answered
With.
The bionical quadruped robot of allosteric type of the present invention, including robot body and the circumferentially uniform single leg knot of robot body
Structure.Single leg structure is variable configuration list leg structure, has the first hip joint, the second hip joint, big leg joint and calf joint.
First hip joint is by the first hip joint servo driving；First hip joint steering wheel is fixed on body, output shaft
It is vertically arranged along space z-axis direction, the first modification hip is installed on the output shaft and projecting shaft of the first hip joint steering wheel；Two
Run-in synchronism between first modification hip.
Second hip joint is by the second hip joint servo driving；Second hip joint steering wheel is fixed in the first hip joint
On one modification hip, output shaft is set along space x-axis direction.Second is installed on the output shaft and projecting shaft of second hip joint steering wheel
Hip is changed, two second are changed run-in synchronism between hips.
The big leg joint is by big leg joint servo driving；Big leg joint steering wheel output shaft is set along space y-axis.Thigh closes
The modification of installation the 3rd hip on the output shaft and projecting shaft of section.Pass through in two the 3rd modification hips and the second hip joint steering wheel the
Two modification hips are fixed；Big leg joint steering wheel is installed between mutually flat thigh plate upper end.
The calf joint is rotated by calf joint servo driving；Calf joint steering wheel output shaft is set along space y-axis；It is small
Leg joint steering wheel is installed between the two thigh plate lower ends being parallel to each other；The output shaft of calf joint steering wheel and projecting shaft respectively with
Between at the top of two calf plates being parallel to each other.
Above-mentioned calf joint lower end is provided with sufficient end structure, while installs damping device between two calf plates.
The advantage of the invention is that：
1st, the bionical quadruped robot of allosteric type of the present invention, the quadruped mammal formula walking and four for being capable of free switching is had concurrently
Sufficient insect formula is creeped two kinds of traveling forms.Compared to traditional Liang Lei robots, fish gets both with bear's paw, and structure can't
Complexity, so as to realize higher functional requirement, there is stronger environmental suitability.
2nd, the bionical quadruped robot of allosteric type of the present invention, single leg structure include 4 frees degree, can connect 4 certainly with making a search
By spending the quadruped robot experiment porch of single leg mechanism, to realize more flexible motion and more complicated control.
3rd, the bionical quadruped robot of allosteric type of the present invention, damping device is installed in shank bottom, the damping device can
Effectively weaken robot foot section to contact to earth caused elliptical gear, improve robot motion's stationarity.
Brief description of the drawings
Fig. 1 is the bionical quadruped robot free state overall structure diagram of allosteric type of the present invention；
Fig. 2 is that the bionical quadruped robot of allosteric type of the present invention imitates overall structure diagram under mammal walking form；
Fig. 3 is that the bionical quadruped robot of allosteric type of the present invention is imitated insect and creeped overall structure diagram under form；
Fig. 4 is the bionical quadruped robot body construction schematic diagram of allosteric type of the present invention；
Fig. 5 is that the bionical quadruped robot of allosteric type of the present invention imitates single leg structural representation under mammal walking form；
Fig. 6 is that the bionical quadruped robot of allosteric type of the present invention is imitated insect and creeped single leg structural representation under form；
Fig. 7 shows for the first coxa joint structure in the variable configuration list leg structure of the bionical quadruped robot of allosteric type of the present invention
It is intended to；
Fig. 8 is the second hip structural representation in the variable configuration list leg structure of the bionical quadruped robot of allosteric type of the present invention；
Fig. 9 is big leg joint and calf joint in the variable configuration list leg structure of the bionical quadruped robot of allosteric type of the present invention
Structural representation；
Figure 10 is variable configuration list leg structure mesopodium end and the damping device knot of the bionical quadruped robot of allosteric type of the present invention
Structure schematic diagram.
In figure：
1- robot body 2- variable configuration list leg structure 3- thigh plates
4- calf plate 5- damping device 101- body lower plates
102- body upper plate 103- plate washers the first hip joints of 201-
The big leg joint 204- calf joints of the second hip joints of 202- 203-
201a- the first hip joint steering wheels 201b- first changes hip A 201c- first and changes hip B
201d- the first transmission connection piece 201e- steering wheel connector 202a- the second hip joint steering wheels
202b- second changes hip A 202c- second and changes hip B the second transmission connection pieces of 202d-
The big leg joint steering wheel 203b- the 3rd of 202e- reinforcing props 203a- change hip A
203c- the 3rd changes hip B 204a- calf joint steering wheel 205a- balls foot
205b- force snesor 205c- force snesor connector 205d- guide pins
501- damping fixing pieces 502- damper 503- damping washers
504- vibration damper plate 505- damping nuts
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
The physical mechanical structure of the bionical quadruped robot of allosteric type of the present invention includes robot body 1 and four variable configurations
Single leg structure 2, as shown in Figure 1.Meanwhile its control system and sensor-based system are built on the basis of physical mechanical structure, and match somebody with somebody
Put dynamical element.
The robot body 1 includes body lower plate 101, body upper plate 102 and plate washer 103, as shown in Figure 4.Wherein, originally
Body upper plate 101 and body lower plate 102 be equidimension rectangular slab, setting symmetrical above and below, and baffle plate is provided between its 4 side of circumference
103, the fixation between body lower plate 101 and body upper plate 102 is realized, and it is circumferential equal between body lower plate 101 and body upper plate 102
The root post of cloth 6, to strengthen the stability of robot body 1.Each auxiliary unit of robot is equipped with body 1, auxiliary unit can
Think controller assemblies, CCD camera assembly or battery pack etc..
4 variable configurations list leg structure 2 is separately mounted at 1 circumferential corner of robot body, makes 4 variable configurations
Single leg structure 2 is arranged symmetrically on body 1, installation site and the line of centres of body 1 and the body of variable configuration list leg structure 2
1 symmetry axis is in 45 ° of angles.Variable configuration list leg structure 2 includes four frees degree, and by 4 servo drivings, mammal can be achieved
Free switching between two kinds of traveling forms that formula is walked and insect formula is creeped, as shown in Figure 2 and Figure 3.Variable configuration list leg structure
2 have four joints, respectively the first hip joint 201, the second hip joint 202, big leg joint 203 and calf joint 204, such as scheme
5th, shown in Fig. 6.Each articulation structure is illustrated below：
A, the first hip joint 201 is directly connected to robot body 1, is driven and rotated by the first hip joint steering wheel 201a.Such as
Shown in Fig. 7, the first hip joint steering wheel 201a output shafts are vertically arranged along space z-axis direction, and the first hip joint steering wheel 201a passes through
The two steering wheel connector 201e arranged up and down fix with the upper plate 102 of body 1 and body lower plate 101 respectively.First hip joint rudder
Machine 201a output shaft is fixed by steering wheel and the first modification hip A201b.First hip joint steering wheel 201a stretching shaft end
Fixed with the first modification hip B201c, and realize sealing and fastening respectively by joint end cap and fastener.Above-mentioned first modification
Between the modification hips of hip A201b and first B201c, it is connected by the first transmission connection piece 201d, realizes fixation between the two,
And then realize the run-in synchronism between the modification hips of the first modification hip A201b and first B201c.
B, the second hip joint 202 is driven by the second hip joint steering wheel 202a and rotated, the second hip joint steering wheel 202a output shafts
Set along space x-axis direction.As shown in figure 8, the second hip joint steering wheel 202a is fixed on the first modification hip in the first hip joint 201
On the mounting surface designed on portion A201b, while reinforcement rock-steady structure is designed on the first modification hip A201b.Second hip closes
Section steering wheel 202a output shaft is fixed by steering wheel and the second modification hip A202b.Second hip joint steering wheel 202a projecting shaft
End is fixed with the second modification hip B202c, and realizes sealing and fastening respectively by joint end cap and fastener.Above-mentioned second
Between changing the modification hips of hip A202b and second B202c, it is connected by the second transmission connection piece 202d, is realized between the two
It is fixed, and then realize the run-in synchronism between the modification hips of the second modification hip A202b and second B202c.Closed for the second hip of resistance
Turning torque suffered by second joint steering wheel 202a in section 202, thus it is circumferential equal between the second hip joint steering wheel 202a biside plate
4 reinforcing prop 202e of even arrangement, to improve the second hip joint steering wheel 202a steadiness.
C, big leg joint 203 is driven by big leg joint steering wheel 203a and rotated；Big leg joint steering wheel 203a output shafts are along space y
Axle is set.As shown in figure 9, big leg joint steering wheel 203a output shaft is fixed by steering wheel and the 3rd modification hip A203b.3rd
Joint steering wheel 203a stretching shaft end is fixed with the 3rd modification hip B203c, and real respectively by joint end cap and fastener
Now sealing and fastening.Big leg joint steering wheel 203a passes through the 3rd modification hip A203b, the 3rd modification hip B203c and the second hip
The mounting surface designed in the steering wheel 202a of joint on the second modification hip A203b is fixed.Variable configuration list leg knot is considered in the present invention
The compact and intensity of the structure of structure 2, the 3rd modification hip A203b, the 3rd modification hip B203c are used into twisted plate, bent
Plate angle is fillet.
D, calf joint 204 is driven by calf joint steering wheel 204a and rotated.As shown in Figure 5, Figure 6, calf joint steering wheel
204a output shafts are set along space y-axis；Calf joint steering wheel 204a be fixedly installed in two lower ends of thigh plate 3 being parallel to each other it
Between, the epimere of thigh plate 3 being parallel to each other is fixedly installed in big leg joint steering wheel 203a both sides.Calf joint steering wheel 204a output
Axle is fixed by steering wheel and the top of side calf plate 4.Calf joint steering wheel 204a stretching shaft end pushes up with opposite side calf plate 4
Portion is fixed, and realizes sealing and fastening respectively by joint end cap and fastener.Due to above-mentioned big leg joint steering wheel 203a with it is small
Leg joint steering wheel 204a is arranged on thigh plate 3, therefore can retain larger space between two calf plates 4, so as in shank
Various equipment are installed at place, such as damping device 5, so as to improve the function aggregation degree of robot.
As shown in figure 3, the above-mentioned lower end of calf joint 204 is provided with sufficient end structure 205.Sufficient end structure 205 includes ball foot
205a, force snesor 205b and force snesor connector 205c, as shown in Figure 10.Wherein, force snesor connector 205c is U-shaped
Structure, both ends are connected by guide pin 205d with the lower end of both sides calf plate 4 respectively, and guide pin 205d is located at along calf plate 4
In the bar hole of lower direction design, thus make to form flexible connection between guide pin 205d and both sides calf plate 4 so that in installation subtract
After shaking device 5, there is provided required displacement during 5 damping, buffering of damping device.Force snesor connector 205c underrun screw threads are consolidated
Surely three-dimensional force sensor 205b is connected, three-dimensional force sensor 205b connects ball foot 205a, and ball by connector
Sufficient 205a upper surfaces are provided with footrest piece 205d to reduce deformation during ball foot 205a stress.
Damping device 5 is also equipped with the present invention at shank, to improve the running stability of robot；The damping device
5 include damping fixing pieces 501 and damper 502, as shown in Figure 10.Wherein, the upper end of damper 502 is fixed by the damping of both sides
It is fixed between part and both sides calf plate.The lower end of damper 502 pass sequentially through damping washer 503, vibration damper plate 504, damping nut 505 with
The 205c connections of force snesor connector.Thus, variable configuration list leg structure subtracting in motion process is realized by damping device 5
Shake.
The bionical quadruped robot of allosteric type of the present invention, variable configuration list leg structure can free switching be mammal and elder brother
Two kinds of configurations of echiuran formula, and then make quadruped robot that there is the walking of quadruped mammal formula and four-footed insect formula to creep two
Kind traveling form；It is specific as follows：
A, during mammal configuration, the first hip joint steering wheel 201a is locked, passes through the second hip joint 202a, big leg joint
Aggregate motion between 203 and calf joint 204 is to realize the travel condition of mammal walking, as shown in Fig. 2, Fig. 5.
B, during insect formula configuration, the second hip joint 202a is locked, by the first hip joint 201, big leg joint 203 with
Aggregate motion between calf joint 204 is to realize travel condition that insect formula is creeped, as shown in Fig. 3, Fig. 6.
Claims (7)
1. a kind of bionical quadruped robot of allosteric type, including robot body and the circumferentially uniform single leg structure of robot body；
It is characterized in that：Single leg structure is variable configuration list leg structure, has the first hip joint, the second hip joint, big leg joint with it is small
Leg joint；
First hip joint is by the first hip joint servo driving；First hip joint steering wheel is fixed on body, and output shaft edge is empty
Between z-axis direction be vertically arranged, the first modification hip is installed on the output shaft and projecting shaft of the first hip joint steering wheel；Two first
Run-in synchronism between modification hip；
Second hip joint is by the second hip joint servo driving；Second hip joint steering wheel, which is fixed in the first hip joint first, to be repaiied
Change on hip, output shaft is set along space x-axis direction；The modification of installation second on the output shaft and projecting shaft of second hip joint steering wheel
Hip, two second are changed run-in synchronism between hips；
The big leg joint is by big leg joint servo driving；Big leg joint steering wheel output shaft is set along space y-axis.Big leg joint
Output shaft and the modification of installation the 3rd hip on projecting shaft；Repaiied by two the 3rd modification hips with the second hip joint steering wheel second
Change hip to fix；Big leg joint steering wheel is installed between mutually flat thigh plate upper end；
The calf joint is rotated by calf joint servo driving；Calf joint steering wheel output shaft is set along space y-axis；Shank closes
Section steering wheel is installed between the two thigh plate lower ends being parallel to each other；The output shaft of calf joint steering wheel and projecting shaft respectively with two
Between at the top of the calf plate being parallel to each other；
Above-mentioned calf joint lower end is provided with sufficient end structure, while installs damping device between two calf plates.
A kind of 2. bionical quadruped robot of allosteric type as claimed in claim 1, it is characterised in that：Robot body uses double up and down
Layer design, it is circumferential to reserve single leg structure installation site, circumferential remaining position installation baffle plate；Two interlayers are circumferential uniform vertical up and down simultaneously
Post.
A kind of 3. bionical quadruped robot of allosteric type as claimed in claim 1, it is characterised in that：The both sides of second hip joint steering wheel
Reinforcing prop is arranged circumferentially between plate.
A kind of 4. bionical quadruped robot of allosteric type as claimed in claim 1, it is characterised in that：3rd modification hip is using bending
Plate, twisted plate angle are fillet.
A kind of 5. bionical quadruped robot of allosteric type as claimed in claim 1, it is characterised in that：During mammal configuration, the
One hip joint steering wheel is locked, by the aggregate motion between the second hip joint, big leg joint and calf joint to realize mammal
The travel condition of formula walking；
During insect formula configuration, the second hip joint is locked, passes through the combination between the first hip joint, big leg joint and calf joint
Motion is to realize travel condition that insect formula is creeped.
A kind of 6. bionical quadruped robot of allosteric type as claimed in claim 1, it is characterised in that：Sufficient end structure has ball foot, ball
Foot is connected by force snesor with sensor connecting piece.
A kind of 7. bionical quadruped robot of allosteric type as described in claim 1 or 6, it is characterised in that：The damping device is set
Meter mode is：Sensor connecting piece both ends are connected by guide pin with both sides calf plate lower end respectively, make guide pin and calf plate
Between formed flexible connection；Damper upper end passes through fixed between damping fixing pieces and both sides calf plate；Damper lower end senses with power
Device connector is connected.
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| CN201711057881.0A CN107856756B (en) | 2017-11-01 | 2017-11-01 | Variable-configuration bionic quadruped robot |
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|---|---|---|---|
| CN201711057881.0A CN107856756B (en) | 2017-11-01 | 2017-11-01 | Variable-configuration bionic quadruped robot |
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| CN107856756B CN107856756B (en) | 2020-08-18 |
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| 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 |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| CN110294043A (en) * | 2019-07-25 | 2019-10-01 | 长安大学 | A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system |
| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
| CN112918583A (en) * | 2021-03-05 | 2021-06-08 | 华南理工大学 | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof |
| CN113044131A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Bus-based quadruped robot |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113602374A (en) * | 2021-08-31 | 2021-11-05 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
| CN113977595A (en) * | 2021-09-28 | 2022-01-28 | 北京炎凌嘉业机电设备有限公司 | Intelligent bionic foot type robot |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
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| CN108407918A (en) * | 2018-04-25 | 2018-08-17 | 江南大学 | A kind of gas balance robot |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN108852147A (en) * | 2018-07-18 | 2018-11-23 | 深圳利尔阳光科技有限公司 | Glass curtain wall robotic cleaning device |
| CN109278885A (en) * | 2018-09-30 | 2019-01-29 | 北京航空航天大学 | A kind of two-part rolls quadruped robot |
| CN109278885B (en) * | 2018-09-30 | 2021-01-19 | 北京航空航天大学 | Two-section type rollable quadruped robot |
| CN110294043A (en) * | 2019-07-25 | 2019-10-01 | 长安大学 | A kind of serial-parallel mirror arm/leg mechanism for bio-robot forelimb mechanical system |
| CN113044131A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Bus-based quadruped robot |
| CN111267141A (en) * | 2020-04-09 | 2020-06-12 | 白志超 | Extensible robot joint and switchable robot with driving modes formed by same |
| CN112660263A (en) * | 2020-12-15 | 2021-04-16 | 无锡陆吾智能科技有限公司 | Education system based on bionic quadruped robot |
| CN112918583A (en) * | 2021-03-05 | 2021-06-08 | 华南理工大学 | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof |
| CN113291389A (en) * | 2021-06-28 | 2021-08-24 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN113291389B (en) * | 2021-06-28 | 2022-07-08 | 清华大学深圳国际研究生院 | Four-legged robot with transformable form |
| CN114750851A (en) * | 2021-07-12 | 2022-07-15 | 智能移动机器人(中山)研究院 | Steering engine-based four-six-foot robot with variable structure and traveling method thereof |
| CN114750851B (en) * | 2021-07-12 | 2023-08-01 | 智能移动机器人(中山)研究院 | Variable-structure four-six-foot robot based on steering engine and advancing method thereof |
| CN113602374B (en) * | 2021-08-31 | 2022-08-26 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
| CN113602374A (en) * | 2021-08-31 | 2021-11-05 | 天津大学 | Novel metamorphic eight-rod foldable wheel-leg robot |
| CN113977595A (en) * | 2021-09-28 | 2022-01-28 | 北京炎凌嘉业机电设备有限公司 | Intelligent bionic foot type robot |
| CN115257996A (en) * | 2022-07-19 | 2022-11-01 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
| CN115257996B (en) * | 2022-07-19 | 2023-07-25 | 长沙理工大学 | Eight-foot special robot capable of dynamically reconstructing body |
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