CN109774816B - Wheel leg type six-foot robot integrating fixed and in-situ steering functions - Google Patents
Wheel leg type six-foot robot integrating fixed and in-situ steering functions Download PDFInfo
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- CN109774816B CN109774816B CN201910177891.0A CN201910177891A CN109774816B CN 109774816 B CN109774816 B CN 109774816B CN 201910177891 A CN201910177891 A CN 201910177891A CN 109774816 B CN109774816 B CN 109774816B
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- 238000011065 in-situ storage Methods 0.000 title claims abstract description 15
- 241000238631 Hexapoda Species 0.000 claims abstract description 11
- 230000001429 stepping effect Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Abstract
The utility model discloses a wheel leg type hexapod robot with fixed and in-situ steering functions, which comprises an upper plate, a lower plate, an upper plate connecting piece, a lower plate connecting piece, a supporting piece structure, a wheel leg driving device and a wheel leg structure, wherein the upper plate and the lower plate are arranged in parallel and fixedly connected through the upper plate connecting piece and the lower plate connecting piece, the upper plate, the lower plate and the upper plate connecting piece form an integral frame together, the wheel leg driving device is fixed on the lower plate, the wheel leg driving device is connected with the wheel leg structure and drives the wheel leg structure to move, six pairs of wheel leg structures and the wheel leg driving device are arranged, and the six wheel leg structures are uniformly and symmetrically arranged on the left side and the right side of the integral frame; the utility model adopts six wheel leg structures, the six wheel leg structures are simple, the robot is of an integrally symmetrical structure, the structure is simpler, and the cost is saved; the utility model integrates the functions of fixing and in-situ steering, improves the practicability and the application range of the robot, and greatly increases the adaptability of the robot to the terrain by adopting the wheel foot structure.
Description
Technical Field
The utility model relates to the field of hexapod robots, in particular to a wheel leg hexapod robot with fixed and in-situ steering functions.
Background
The wheel leg type six-legged robot has higher adaptability to complex terrains, and meanwhile, the six-legged robot has higher stability, so the wheel leg type six-legged robot is a mobile robot with higher practical application value.
The existing wheel-leg type robot has various defects, for example, chinese patent application No. CN201720434440.7 discloses a wheel-leg changing type robot, in the case of a wheel type, a servo motor drives wheels to move forwards, in the case of a leg type, the driving axle center of a wheel-leg mechanism is firstly regulated by the servo motor, when a direct current motor is connected, the wheels are folded into a semicircular leg, and then the semicircular leg is driven by the servo motor to move forwards; the Chinese patent application No. CN104608838A discloses a six-foot wheel leg crawling bionic robot, the distance between the front part of the trunk, the rear part of the trunk and the middle part of the trunk is adjustable, the rigidity of the wheel legs can be adjusted, and the maximum crossing ditch width and the maximum climbing ladder obstacle height of the equipment can be changed. However, the four-legged type robot disclosed in the above patent utility models has poor stability compared to the six-legged type robot, and the legged type robot is applied to various severe environments, and when the robot is in a narrow environment or in an environment with poor terrain, there is a possibility that there is not much space for the steering of the robot, and when the legged type robot works, there is a load, and only the legged type robot is supported by the legs, which reduces the stability of the body and affects the working efficiency.
In order to overcome the above disadvantages, a wheel-leg type six-legged robot with a fixed and in-situ steering function needs to be designed and developed, so that the above disadvantages can be overcome.
Disclosure of Invention
The utility model aims to solve the problems of adaptation and operation efficiency of the existing wheel-leg type hexapod robot under the condition of complex terrain, and provides the wheel-leg type hexapod robot with the functions of fixing and in-situ steering, which has the characteristics of simple structure and lower cost, can operate in places where some human beings cannot reach or places where the life safety of the human beings is endangered, increases the practicability of the wheel-leg type hexapod robot, and increases the application range of the wheel-leg type hexapod robot.
The utility model realizes the above purpose through the following technical scheme: the wheel leg type six-foot robot comprises an upper plate, a lower plate, upper and lower plate connecting pieces, a supporting piece structure, wheel leg driving devices and a wheel leg structure, wherein the upper plate and the lower plate are arranged in parallel and are fixedly connected through the upper and lower plate connecting pieces, the upper plate, the lower plate and the upper and lower plate connecting pieces jointly form an integral frame, the wheel leg driving devices are fixed on the lower plate, the wheel leg driving devices are connected with the wheel leg structure and drive the wheel leg structure to move, six pairs of wheel leg structures and the wheel leg driving devices are arranged on the left side and the right side of the integral frame, and the six wheel leg structures are uniformly and symmetrically arranged;
the wheel leg driving device comprises a wheel leg driving motor and a motor frame, wherein the motor frame is fixed on the upper surface of the lower plate through bolts, and the wheel leg driving motor is fixed on the motor frame; the wheel leg structure comprises an arc wheel leg, a wheel leg motor frame, a wheel leg connecting piece and a stepping motor, wherein the wheel leg connecting piece is fixedly connected to the inner side face of the arc wheel leg through a bolt, the stepping motor is vertically fixed on the wheel leg motor frame, an output shaft of the stepping motor is connected with the wheel leg connecting piece, and the arc wheel leg and the wheel leg motor frame are driven to rotate around an output shaft of the stepping motor which is vertically arranged when the stepping motor moves; the output shaft of the wheel leg driving motor is connected with the wheel leg connecting piece of the wheel leg structure, and when the wheel leg driving motor moves, the driving wheel leg structure integrally rotates around the output shaft of the wheel leg driving motor which is horizontally arranged;
the support piece structure comprises a support piece frame, a screw rod driving motor, a stay bar, a push rod, a moving block and a screw rod, wherein the support piece frame is fixed on the lower surface of the lower plate through bolts; the upper end of the supporting rod is hinged on the supporting piece frame, one end of the push rod is hinged in the middle of the supporting rod, and the other end of the push rod is hinged on the moving block; the screw rod driving motor drives the screw rod to rotate when in motion, so that the moving block is driven to linearly move along the screw rod, the moving block drives the upper end of the push rod to horizontally move when in linear motion along the screw rod, and then the lower end of the push rod drives the support rod to rotate around a hinge shaft between the support rod and the support piece frame; the support piece structures are arranged in four, the directions of the four support piece structures are distributed in a staggered mode, and the four support piece structures are distributed on the lower surface of the lower plate at equal intervals.
Further, the upper and lower plate connecting piece comprises a vertical supporting plate, a horizontal upper connecting plate and a horizontal lower connecting plate, one side of the upper connecting plate is connected with the upper end of the supporting plate, one side of the lower connecting plate is connected with the lower end of the supporting plate, the upper connecting plate and the lower connecting plate are integrally formed, the upper connecting plate is fixed on the upper plate through bolts, and the lower connecting plate is fixed on the lower plate through bolts.
Further, the upper and lower plate connecting pieces are provided with a pair of front and rear connecting pieces, and the two upper and lower plate connecting pieces are respectively arranged at the front end and the rear end between the upper plate and the lower plate.
Further, the middle parts of the left side and the right side of the lower plate and the upper plate are outwards protruded, the front wheel leg structure and the rear wheel leg structure of the same side are positioned on the same horizontal line, and the positions of the middle wheel leg driving device and the front wheel leg structure and the rear wheel leg structure are staggered.
Further, the wheel leg connecting piece is arc-shaped, the radian of the wheel leg connecting piece is consistent with that of the arc wheel leg, the wheel leg connecting piece is attached to the upper end near end part of the arc wheel leg and fixedly connected with the upper end near end part of the arc wheel leg through bolts, and an output shaft of the stepping motor and an extension line of the stepping motor pass through the round shape of the arc wheel leg.
Further, the push rods are provided with two push rods with equal length, the upper ends of the two push rods are respectively hinged to the moving block, and the lower ends of the two push rods are both hinged to the middle of the stay bar.
The utility model has the beneficial effects that: the utility model adopts six wheel leg structures, the six wheel leg structures are simple, the robot is of an integrally symmetrical structure, the structure is simpler, and the cost is saved; the utility model integrates the functions of fixing and in-situ steering, improves the practicability and the application range of the robot, and greatly increases the adaptability of the robot to the terrain by adopting the wheel foot structure; the whole device has high flexibility, strong bearing capacity, compact structure, reasonable design and good processing and assembling processes.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a wheel-leg type hexapod robot with a fixed and in-situ steering function of the present utility model.
Fig. 2 is a schematic structural view of the wheel leg structure of the present utility model.
Fig. 3 is a schematic structural view of the support structure of the present utility model.
Fig. 4 is a schematic structural view of the wheel leg connecting member of the present utility model.
Fig. 5 is a schematic view of the structure of the wheel leg motor frame of the present utility model.
Fig. 6 is a schematic view of the structure of the wheel leg of the present utility model.
In the figure, a 1-upper plate, a 2-lower plate, a 3-wheel leg driving motor, a 4-upper and lower plate connecting piece, a 5-wheel leg structure, a 6-supporting piece, a 7-motor frame, an 8-arc wheel leg, a 9-wheel leg motor frame, a 10-wheel leg connecting piece, a 11-stepping motor, a 12-supporting piece frame, a 13-screw rod driving motor, a 14-supporting rod, a 15-push rod, a 16-moving block and a 17-screw rod.
Description of the embodiments
The utility model is further described below with reference to the accompanying drawings:
as shown in fig. 1-6, the wheel leg type hexapod robot with the functions of fixing and in-situ steering comprises an upper plate 1, a lower plate 2, an upper plate connecting piece 4, a lower plate connecting piece 6, a supporting piece structure 6, a wheel leg driving device and a wheel leg structure 5, wherein the upper plate 1 and the lower plate 2 are arranged in parallel, the upper plate 1 and the lower plate 2 are fixedly connected through the upper plate connecting piece 4, the upper plate 1, the lower plate 2 and the upper plate connecting piece 4 jointly form an integral frame, the wheel leg driving device is fixed on the lower plate 2, the wheel leg driving device is connected with the wheel leg structure 5 and drives the wheel leg structure 5 to move, the wheel leg structure 5 and the wheel leg driving device are provided with six pairs, and the six wheel leg structures 5 are uniformly and symmetrically arranged on the left side and right side of the integral frame, namely three wheel leg structures 5 on the left side, and three wheel leg structures 5 on the right side.
The wheel leg driving device comprises a wheel leg driving motor 3 and a motor frame 7, wherein the motor frame 7 is fixed on the upper surface of the lower plate 2 through bolts, and the wheel leg driving motor 3 is fixed on the motor frame 7; the wheel leg structure 5 comprises an arc wheel leg 8, a wheel leg motor frame 9, a wheel leg connecting piece 10 and a stepping motor 11, wherein the wheel leg connecting piece 10 is fixedly connected to the inner side surface of the arc wheel leg 8 through bolts, the stepping motor 11 is vertically fixed on the wheel leg motor frame 9, an output shaft of the stepping motor 11 is connected with the wheel leg connecting piece 10, and the arc wheel leg 8 and the wheel leg motor frame 9 are driven to rotate around an output shaft of the vertically arranged stepping motor 11 when the stepping motor 11 moves; the output shaft of the wheel leg driving motor 3 is connected with the wheel leg connecting piece 10 of the wheel leg structure 5, and when the wheel leg driving motor 3 moves, the driving wheel leg structure 5 integrally rotates around the output shaft of the wheel leg driving motor 3 which is horizontally arranged.
The support member structure 6 comprises a support member frame 12, a screw rod driving motor 13, a stay bar 14, a push rod 15, a moving block 16 and a screw rod 17, wherein the support member frame 12 is fixed on the lower surface of the lower plate 2 through bolts, the screw rod driving motor 13 is horizontally fixed on the support member frame 12 through bolts, the screw rod 17 is installed on the support member frame 12 through a bearing and a bearing seat, the screw rod driving motor 13 is connected with one end of the screw rod 17, and the moving block 16 is sleeved on the screw rod 17; the upper end of the supporting rod 14 is hinged on the supporting piece frame 12, one end of the push rod 15 is hinged in the middle of the supporting rod 14, and the other end of the push rod 15 is hinged on the moving block 16; the screw rod driving motor 13 drives the screw rod 17 to rotate when moving, so as to drive the moving block 16 to linearly move along the screw rod 17, and the moving block 16 drives the upper end of the push rod 15 to horizontally move when linearly moving along the screw rod 17, so that the lower end of the push rod 15 drives the supporting rod 14 to rotate around a hinge shaft between the supporting rod 14 and the supporting piece frame 12; the four support member structures 6 are arranged, the four support member structures 6 are distributed in a staggered mode, and the four support member structures 6 are distributed on the lower surface of the lower plate 2 at equal intervals.
The upper and lower plate connecting piece 4 comprises a vertical supporting plate, a horizontal upper connecting plate and a horizontal lower connecting plate, one side of the upper connecting plate is connected with the upper end of the supporting plate, one side of the lower connecting plate is connected with the lower end of the supporting plate, the upper connecting plate and the lower connecting plate are integrally formed, the upper connecting plate is fixed on the upper plate 1 through bolts, and the lower connecting plate is fixed on the lower plate 2 through bolts.
The upper and lower plate connecting plates 4 are provided with a pair of front and rear plates, and the two upper and lower plate connecting plates 4 are respectively arranged at the front end and the rear end between the upper plate 1 and the lower plate 2.
The middle parts of the left side and the right side of the lower plate 2 and the upper plate 1 are outwards protruded, the front wheel leg structure 5 and the rear wheel leg structure 5 on the same side are positioned on the same horizontal line, and the middle wheel leg driving device is staggered with the positions of the front wheel leg structure 5 and the rear wheel leg structure 5.
The wheel leg connecting piece 10 is arc-shaped, the radian of the wheel leg connecting piece is consistent with that of the arc wheel leg 8, the wheel leg connecting piece 10 is attached to the upper end near end part of the arc wheel leg 8 and is fixedly connected with the upper end near end part of the arc wheel leg 8 through bolts, and an output shaft of the stepping motor 11 and an extension line pass through the round shape of the arc wheel leg 8.
The push rods 15 are provided with two push rods with equal length, the upper ends of the two push rods 15 are respectively hinged on the moving block 16, and the lower ends of the two push rods 15 are both hinged at the middle part of the stay bar 14.
The specific working procedure of the utility model is as follows:
when the robot moves forward, the wheel leg driving motor 3 in the whole frame drives the wheel leg structure 5 to rotate around the output shaft of the wheel leg driving motor 3, the wheel leg structure on the left side of the machine body is the wheel leg I, the wheel leg II and the wheel leg III from front to back, the wheel leg structure on the right side is the wheel leg IV, the wheel leg V and the wheel leg VI from front to back respectively, six wheel legs are simultaneously driven by the motor to rotate when the robot moves forward, the robot has a forward tilting tendency as a forward starting action, but the wheel leg motor frame 9 of the wheel leg I, the wheel leg III and the wheel leg V rotates for one circle under the driving action of the wheel leg driving motor 3, the rotation direction of the wheel leg II, the wheel leg IV and the wheel leg VI is the same as that of the wheel leg I, the wheel leg III and the wheel leg V, but only rotates for a certain angle to stop the action, and the wheel leg IV and the six wheel legs can be regarded as the step leg II, the step leg IV and the step leg VI as auxiliary forward tilting action, and no further step action is taken as the forward movement of the machine. After the first, third and fifth legs rotate for one circle, namely the stepping action is finished, the second, fourth and sixth legs serve as stepping legs and rotate for one circle under the driving action of the wheel leg driving motor 3, and at the moment, the first, third and fifth legs serve as auxiliary forward tilting legs and stop action only by rotating for a certain angle, so that the second stepping action is finished. With this action, the swing legs alternate with the auxiliary forward tilting legs, thereby completing the swing forward action. When the robot performs a specific operation process, other manipulators or other specific operation devices are additionally arranged at the upper end of the upper plate 1, and in the operation process, the four support member structures 6 start to work without the robot to provide certain supporting force and stability. At this time, the screw driving motor 13 of the support member structure 6 is started to drive the screw 17 to rotate, so as to drive the moving rod 16 to move along the screw, push the push rod 15, and further drive the supporting rod 14 to rotate around the hinge point until the front end of the supporting rod 14 abuts against the ground, and provide supporting force. If the robot needs to retreat, under the condition that the working environment is severe and the environment is insufficient to enable the robot to turn and advance, the stepping motor on the wheel leg structure 5 starts to work, the arc wheel leg 8 on the wheel leg structure 5 is driven to rotate 180 degrees around the output shaft of the stepping motor 11, at the moment, the direction of the arc wheel leg 8 is rotated 180 degrees, the front end of the robot is changed into the rear end, the rear end is changed into the front end, the in-situ turning work is completed, and the robot can reversely move along the original direction.
The above embodiments are only preferred embodiments of the present utility model, and are not limiting to the technical solutions of the present utility model, and any technical solution that can be implemented on the basis of the above embodiments without inventive effort should be considered as falling within the scope of protection of the patent claims of the present utility model.
Claims (3)
1. The utility model provides a collection is fixed, six sufficient robots of wheel leg formula of in-situ steering function which characterized in that: the wheel leg driving device comprises an upper plate (1), a lower plate (2), an upper plate connecting piece (4), a lower plate connecting piece (2), a supporting piece structure (6), wheel leg driving devices and wheel leg structures (5), wherein the upper plate (1) and the lower plate (2) are arranged in parallel, the upper plate (1) and the lower plate (2) are fixedly connected through the upper plate connecting piece (4), the upper plate (1), the lower plate (2) and the upper plate connecting piece (4) form an integral frame together, the wheel leg driving devices are fixed on the lower plate (2), the wheel leg driving devices are connected with the wheel leg structures (5) and drive the wheel leg structures (5) to move, six pairs of wheel leg structures (5) are arranged on the left side and the right side of the integral frame uniformly and symmetrically;
the wheel leg driving device comprises a wheel leg driving motor (3) and a motor frame (7), wherein the motor frame (7) is fixed on the upper surface of the lower plate (2) through bolts, and the wheel leg driving motor (3) is fixed on the motor frame (7); the wheel leg structure (5) comprises an arc wheel leg (8), a wheel leg motor frame (9), a wheel leg connecting piece (10) and a stepping motor (11), wherein the wheel leg connecting piece (10) is fixedly connected to the inner side surface of the arc wheel leg (8) through a bolt, the stepping motor (11) is vertically fixed on the wheel leg motor frame (9), an output shaft of the stepping motor (11) is connected with the wheel leg connecting piece (10), and the arc wheel leg (8) and the wheel leg motor frame (9) are driven to rotate around an output shaft of the vertically arranged stepping motor (11) when the stepping motor (11) moves; the output shaft of the wheel leg driving motor (3) is connected with the wheel leg connecting piece (10) of the wheel leg structure (5), and when the wheel leg driving motor (3) moves, the whole wheel leg structure (5) rotates around the output shaft of the wheel leg driving motor (3) which is horizontally arranged;
the support piece structure (6) comprises a support piece frame (12), a screw rod driving motor (13), a supporting rod (14), a push rod (15), a moving block (16) and a screw rod (17), wherein the support piece frame (12) is fixed on the lower surface of the lower plate (2) through bolts, the screw rod driving motor (13) is horizontally fixed on the support piece frame (12) through bolts, the screw rod (17) is installed on the support piece frame (12) through a bearing and a bearing seat, the screw rod driving motor (13) is connected with one end of the screw rod (17), and the moving block (16) is sleeved on the screw rod (17); the upper end of the supporting rod (14) is hinged on the supporting piece frame (12), one end of the push rod (15) is hinged in the middle of the supporting rod (14), and the other end of the push rod (15) is hinged on the moving block (16); the screw rod driving motor (13) drives the screw rod (17) to rotate when moving, so as to drive the moving block (16) to linearly move along the screw rod (17), and the moving block (16) drives the upper end of the push rod (15) to horizontally move when linearly moving along the screw rod (17), so that the lower end of the push rod (15) drives the support rod (14) to rotate around a hinge shaft between the support rod (14) and the support piece frame (12); the four support piece structures (6) are arranged in a staggered mode in the direction of the four support piece structures (6), and the four support piece structures (6) are distributed on the lower surface of the lower plate (2) at equal intervals;
the middle parts of the left side and the right side of the lower plate (2) and the upper plate (1) are outwards protruded, the front wheel leg structure and the rear wheel leg structure (5) on the same side are positioned on the same horizontal line, and the middle wheel leg driving device is staggered with the positions of the front wheel leg structure and the rear wheel leg structure (5);
the wheel leg connecting piece (10) is arc-shaped, the radian of the wheel leg connecting piece is consistent with that of the arc wheel leg (8), the wheel leg connecting piece (10) is attached to the upper end near end part of the arc wheel leg (8) and fixedly connected with the upper end near end part of the arc wheel leg through bolts, and an output shaft of the stepping motor (11) and an extension line pass through the round shape of the arc wheel leg (8); the two pushing rods (15) are equal in length, the upper ends of the two pushing rods (15) are respectively hinged to the moving block (16), and the lower ends of the two pushing rods (15) are both hinged to the middle of the supporting rod (14);
if the stepping motor on the wheel leg structure (5) starts to work, the arc wheel leg (8) on the driving wheel leg structure (5) rotates 180 degrees around the output shaft of the stepping motor (11), at the moment, the direction of the arc wheel leg (8) rotates 180 degrees, the front end of the robot becomes the rear end, the rear end becomes the front end, the in-situ steering work is completed, and the robot can move reversely along the original direction.
2. The wheel-legged hexapod robot integrating a fixed and in-situ steering function according to claim 1, wherein: the upper and lower plate connecting piece (4) comprises a vertical supporting plate, a horizontal upper connecting plate and a horizontal lower connecting plate, one side of the upper connecting plate is connected with the upper end of the supporting plate, one side of the lower connecting plate is connected with the lower end of the supporting plate, the upper connecting plate and the lower connecting plate are integrally formed, the upper connecting plate is fixed on the upper plate (1) through bolts, and the lower connecting plate is fixed on the lower plate (2) through bolts.
3. The wheel-legged hexapod robot integrating a fixed and in-situ steering function according to claim 2, wherein: the upper plate connecting piece (4) and the lower plate connecting piece (4) are provided with a pair of front and back, and the two upper plate connecting pieces (4) and the lower plate connecting piece (4) are respectively arranged at the front end and the rear end between the upper plate (1) and the lower plate (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910177891.0A CN109774816B (en) | 2019-03-10 | 2019-03-10 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910177891.0A CN109774816B (en) | 2019-03-10 | 2019-03-10 | Wheel leg type six-foot robot integrating fixed and in-situ steering functions |
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| CN109774816A CN109774816A (en) | 2019-05-21 |
| CN109774816B true CN109774816B (en) | 2024-04-02 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110481670B (en) * | 2019-08-26 | 2020-10-09 | 西安电子科技大学 | Wheel-leg mixed type hexapod robot |
| CN110561460A (en) * | 2019-09-28 | 2019-12-13 | 闽江师范高等专科学校 | Flea robot and control method thereof |
| CN110588826B (en) * | 2019-10-22 | 2024-05-28 | 东北林业大学 | Wheel leg type robot capable of overturning |
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| CN208165136U (en) * | 2018-03-16 | 2018-11-30 | 长安大学 | A kind of arc leg formula multi-foot robot |
| 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 |
| CN109227544A (en) * | 2018-10-24 | 2019-01-18 | 西南交通大学 | A kind of six sufficient trolley full ground anthropomorphic robot of c-type leg |
| CN209972622U (en) * | 2019-03-10 | 2020-01-21 | 浙江工业大学 | Wheel-leg type hexapod robot integrating fixing and original steering functions |
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| CN109774816A (en) | 2019-05-21 |
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