CN110126939A - A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method - Google Patents
A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method Download PDFInfo
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- CN110126939A CN110126939A CN201910557310.6A CN201910557310A CN110126939A CN 110126939 A CN110126939 A CN 110126939A CN 201910557310 A CN201910557310 A CN 201910557310A CN 110126939 A CN110126939 A CN 110126939A
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- 230000005484 gravity Effects 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 9
- 244000309466 calf Species 0.000 claims abstract description 28
- 210000000689 upper leg Anatomy 0.000 claims description 34
- 210000002414 leg Anatomy 0.000 claims description 4
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000005021 gait Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application methods, including rack, the front part sides of the rack are provided with respectively by the first crank and rocker mechanism driving being installed in rack and front and back is staggered the front shank bar of swing, the rear portion two sides of rack are respectively arranged with to be driven and the posterior calf bar for the swing that is staggered by the second crank and rocker mechanism being installed in rack, the lower end of the front shank bar and posterior calf bar is respectively arranged with anti-skidding sufficient end, and the lower part of the rack is provided with gravity center adjuster.The quadruped robot adjusting center of gravity on the road surface for have certain slope more smoothly to walk.
Description
Technical field
The present invention relates to a kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application methods.
Background technique
Existing quadruped robot is commonly used in the servo motor driving of five-rod in parallel, needs frequently to become during being applicable in
Speed, commutation, and the busy shift, commutation are easy the problems such as bringing impact, energy loss, and servo motor higher cost.Separately
Outside, existing quadruped robot can not smoothly walk on the road surface for have certain slope, it usually needs by adjusting robot
Gait, increase control difficulty.
Summary of the invention
The purpose of the present invention is to provide a kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application methods, should
Quadruped robot adjusting center of gravity on the road surface for have certain slope more smoothly to walk.
Technical program of the present invention lies in: a kind of adjustable constant speed electric drive quadruped robot of center of gravity, including rack, it is described
The front part sides of rack are provided with respectively by the first crank and rocker mechanism driving being installed in rack and front and back is staggered swing
Front shank bar, the rear portion two sides of rack, which are respectively arranged with, to be driven and is staggered by the second crank and rocker mechanism being installed in rack
The lower end of the posterior calf bar of swing, the front shank bar and posterior calf bar is respectively arranged with anti-skidding sufficient end, the rack
Lower part be provided with gravity center adjuster.
Further, the gravity center adjuster includes the screw rod that front and back end is connected to frame lower through bearing block respectively,
It is bolted with ball nut on the screw rod, upper end is fixed on the ball nut and is led with the transverse direction being set on frame underside face
The clump weight that rail is slidably matched, the rear portion of the rack are provided with the horizontal machine that output end is connected with screw rod rear end.
Further, the first crank rocker machine includes horizontal the first driving motor for being set to frame front two sides,
The output end of first driving motor is provided with the first crankwheel, and first crankwheel is upper with corresponding forequarter shank bar
End rotation connection, the on both sides of the middle of the rack is horizontal to be provided with the second driving motor, the output end of second driving motor
It is provided with the second crankwheel, first connecting rod is hinged on second crankwheel, before the other end of the first connecting rod is hinged with
It is hinged in the middle part of portion's thigh bar, the other end of the front thigh bar and the front shank bar of respective side, in first connecting rod
Portion is hinged with the first rocking bar, and the other end of first rocking bar is rotated with the first fixing seat being correspondingly arranged on the upside of rack respectively
Connection.
Further, positioned at rack side front shank bar upper end hinge joint and positioned at the front of the rack other side it is small
The upper end hinge joint of leg bar is staggered 180 °；Positioned at the upper end hinge joint of the front thigh bar of rack side and positioned at the rack other side
The upper end interface point of front thigh bar be staggered 180 °；Positioned at the upper end hinge joint and front shank of the front thigh bar of the same side
The upper end hinge joint of bar is staggered 90 °；First fixing seat is set to rack side and close to the first driving motor.
Further, second crank and rocker mechanism includes the horizontal third driving electricity for being set to rack rear portion two sides
Machine, the output end of the third driving motor are respectively arranged with third crankwheel, the third crankwheel and respective side rear portion
The upper end of shank bar is rotatablely connected, and the on both sides of the middle of the rack is horizontal to be provided with the 4th driving motor, the 4th driving electricity
The output end of machine is provided with the 4th crankwheel, is hinged with second connecting rod on the 4th crankwheel, the second connecting rod it is another
End is hinged with rear portion thigh bar, is hinged in the middle part of the other end of the rear portion thigh bar and the posterior calf bar of respective side, the
The second rocking bar, the other end of second rocking bar and the second fixation being correspondingly arranged on the upside of rack are hinged in the middle part of two connecting rods
Seat rotation connection.
Further, positioned at rack side posterior calf bar upper end hinge joint and positioned at the rear portion of the rack other side it is small
The upper end hinge joint of leg bar is staggered 180 °；Positioned at the upper end hinge joint of the rear portion thigh bar of rack side and positioned at the rack other side
The upper end interface point of rear portion thigh bar be staggered 180 °；Positioned at the upper end hinge joint and posterior calf of the rear portion thigh bar of the same side
The upper end hinge joint of bar is staggered 90 °；Second fixing seat is set to rack side and close to third driving motor.
Further, the two sides at the anti-skidding sufficient end are solid through oblique floor 41 and front shank bar or posterior calf bar respectively
Fixed connection, the anti-skidding sufficient end are made of rubber.
A kind of application method applied to the adjustable constant speed electric drive quadruped robot of center of gravity, comprising the following steps:
(1) shank bar walking in front is controlled by the first driving motor of control and the second driving motor respectively；By controlling third
Driving motor and the 4th driving motor control the walking of posterior calf bar respectively；
(2) it when encountering upward slope, is moved before driving clump weight to be moved forward to the center of gravity for making robot by horizontal machine；Work as chance
When to descending, clump weight is driven to move backward by horizontal machine move back the center of gravity of robot.
Compared with prior art, it the invention has the following advantages that 1. using the motor-driven leg mechanism of double constant speeds, keeps away
The problem of having exempted from impact, energy loss brought by the servo motor busy shift of conventional parallel five-rod, commutation, Er Qiechang
The cost of speed motor is also relatively low, improves economy.2. may be implemented having certain slope by gravity center adjuster robot
Road surface on more smoothly walk, and do not have to by adjusting robot gait, reduced control difficulty.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is side view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is the A-A cross-sectional view of Fig. 1 of the invention.
Specific embodiment
To make the foregoing features and advantages of the present invention clearer and more comprehensible, special embodiment below, and cooperate attached drawing, make detailed
It is carefully described as follows, but the present invention is not limited thereto.
Referring to figs. 1 to Fig. 4
A kind of adjustable constant speed electric drive quadruped robot of center of gravity, including rack 10, the front part sides of the rack are provided with point
Not by the first crank and rocker mechanism driving being installed in rack and front and back is staggered the front shank bar 20 of swing, the rear portion of rack
Two sides are respectively arranged with to be driven and the posterior calf bar 30 for the swing that is staggered by the second crank and rocker mechanism being installed in rack, institute
The lower end for stating front shank bar and posterior calf bar is horizontally arranged with anti-skidding sufficient end 40 respectively, and the lower part of the rack is provided with weight
The heart adjusts device.
In the present embodiment, the two sides at the anti-skidding sufficient end are respectively through oblique floor 41 and front shank bar or posterior calf bar
It is fixedly connected, the anti-skidding sufficient end is made of rubber.
In the present embodiment, the gravity center adjuster includes the silk that front and back end is connected to frame lower through bearing block 55 respectively
Bar 51 is bolted with ball nut 52 on the screw rod, and upper end is fixed on the ball nut and is set on frame underside face
The clump weight 53 that is slidably matched of cross slide way 11, the rear portion of the rack be provided with output end be connected with screw rod rear end it is sleeping
Formula motor 54 adjusts entire robot by adjusting the position of clump weight thus when walking on the road surface for have certain slope
Center of gravity.
In the present embodiment, the first crank rocker machine includes horizontal the first driving motor for being set to frame front two sides
21, the output end of first driving motor is connected with the first crankwheel 22 through shaft coupling respectively, first crankwheel with it is right
The upper end of forequarter shank bar is answered to be rotatablely connected, the on both sides of the middle of the rack is horizontal to be provided with the second driving motor 23, described
The output end shaft coupling of second driving motor is connected with the second crankwheel 24, is hinged with first connecting rod on second crankwheel
25, the other end of the first connecting rod is hinged with front thigh bar 26, before the other end and respective side of the front thigh bar
It is hinged in the middle part of portion's shank bar, the first rocking bar 27, the other end difference of first rocking bar is hinged in the middle part of first connecting rod
It is rotatablely connected with the first fixing seat 28 being correspondingly arranged on the upside of rack.To drive front by the first crank and rocker mechanism
Shank bar swing.
In the present embodiment, positioned at the upper end hinge joint of the front shank bar of rack side and positioned at the front of the rack other side
The upper end hinge joint of shank bar is staggered 180 ° (front-back staggereds), upper end hinge joint and position positioned at the front thigh bar of rack side
180 ° (dislocation up and down) are staggered in the upper end hinge joint of the front thigh bar of the rack other side；Front thigh positioned at rack side
The upper end interface point of the upper end hinge joint of bar and the front thigh bar positioned at the rack other side is staggered 180 ° (front-back staggereds)；It is located at
The upper end hinge joint of the front thigh bar of the same side and the upper end hinge joint of front shank bar are staggered 90 ° (is with the second crankwheel
Benchmark calculates clockwise)；First fixing seat is set to rack side and close to the first driving motor.
In the present embodiment, second crank and rocker mechanism includes the horizontal third driving electricity for being set to rack rear portion two sides
Machine 31, shaft coupling is connected with third crankwheel 32 to the output end of the third driving motor respectively, the third crankwheel with
The upper end of respective side posterior calf bar is rotatablely connected, and the on both sides of the middle of the rack is horizontal to be provided with the 4th driving motor 33, institute
The output end shaft coupling for stating the 4th driving motor is connected with the 4th crankwheel 34, is hinged with second connecting rod on the 4th crankwheel
35, the other end of the second connecting rod is hinged with rear portion thigh bar 36, after the other end and respective side of the rear portion thigh bar
Be hinged in the middle part of portion's shank bar, be hinged with the second rocking bar 37 in the middle part of second connecting rod, the other end of second rocking bar with it is right
The second fixing seat 38 rotation connection that should be set on the upside of rack.To drive posterior calf by the second crank and rocker mechanism
Bar swing.
In the present embodiment, the upper end hinge joint positioned at the posterior calf bar of rack side and the rear portion positioned at the rack other side
The upper end hinge joint of shank bar is staggered 180 ° (front-back staggereds)；Upper end hinge joint and position positioned at the front thigh bar of rack side
180 ° (dislocation up and down) are staggered in the upper end hinge joint of the front thigh bar of the rack other side；Rear portion thigh positioned at rack side
The upper end interface point of the upper end hinge joint of bar and the rear portion thigh bar positioned at the rack other side is staggered 180 °；Behind the same side
The upper end hinge joint of portion's thigh bar and the upper end hinge joint of posterior calf bar are staggered 90 ° (on the basis of third crankwheel clockwise
It calculates)；Second fixing seat is set to rack side and close to third driving motor.
In the present embodiment, the circumference of first to fourth crankwheel is circumferentially respectively provided with four hinge holes,
Angle between adjacent two handover hole is 90 °, to be hinged with corresponding rod piece.
In the present embodiment, which is furnished with control system, and to control front shank bar, posterior calf bar is coordinated
Operating (for example, control the walking of front shank bar by the first driving motor of control and the second driving motor respectively；Pass through control the
Three driving motors and the 4th driving motor control the walking of posterior calf bar respectively, and coordinate front shank bar and posterior calf bar),
And the position of configuration block is controlled to control the center of gravity of robot.
When robot needs are more steadily walked without toppling on the slope for have constant slope, by starting center of gravity
Adjustment device comes so that the center of gravity of robot moves forward, to realize robot more smoothly upslope motion.
A kind of application method applied to the adjustable constant speed electric drive quadruped robot of center of gravity, comprising the following steps:
(1) shank bar walking in front is controlled by the first driving motor of control and the second driving motor respectively；By controlling third
Driving motor and the 4th driving motor control the walking of posterior calf bar respectively；
(2) it when encountering upward slope, is moved before driving clump weight to be moved forward to the center of gravity for making robot by horizontal machine；Work as chance
When to descending, clump weight is driven to move backward by horizontal machine move back the center of gravity of robot.
The foregoing is merely presently preferred embodiments of the present invention, for the ordinary skill in the art, according to this hair
Bright introduction designs the adjustable constant speed electric drive quadruped robot of various forms of centers of gravity and does not need creative labor,
Without departing from the principles and spirit of the present invention all equivalent changes made according to scope of the present invention patent, modification,
Replacement and variant is all covered by the present invention.
Claims (8)
1. a kind of adjustable constant speed electric drive quadruped robot of center of gravity, including rack, which is characterized in that the front two of the rack
Side is provided with respectively by the first crank and rocker mechanism driving being installed in rack and front and back is staggered the front shank bar of swing, machine
The rear portion two sides of frame are respectively arranged with to be driven and the rear portion for the swing that is staggered is small by the second crank and rocker mechanism being installed in rack
The lower end of leg bar, the front shank bar and posterior calf bar is respectively arranged with anti-skidding sufficient end, and the lower part of the rack is provided with
Gravity center adjuster.
2. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 1, which is characterized in that described heavy
Heart adjustment device includes the screw rod that front and back end is connected to frame lower through bearing block respectively, is bolted with ball spiral shell on the screw rod
Mother, the clump weight for being fixed with upper end on the ball nut and being slidably matched with the cross slide way being set on frame underside face, institute
The rear portion for stating rack is provided with the horizontal machine that output end is connected with screw rod rear end.
3. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 2, which is characterized in that described
One crank rocker machine includes horizontal the first driving motor for being set to frame front two sides, the output end of first driving motor
It is provided with the first crankwheel, first crankwheel is rotatablely connected with the upper end of corresponding forequarter shank bar, in the rack
Two lateral recumbent posture of portion is provided with the second driving motor, and the output end of second driving motor is provided with the second crankwheel, and described
First connecting rod is hinged on two crankwheels, the other end of the first connecting rod is hinged with front thigh bar, the front thigh bar
The other end and respective side front shank bar in the middle part of be hinged, be hinged with the first rocking bar in the middle part of first connecting rod, described
The other end of one rocking bar is rotatablely connected with the first fixing seat being correspondingly arranged on the upside of rack respectively.
4. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 3, which is characterized in that be located at machine
The upper end hinge joint of the upper end hinge joint of the front shank bar of frame side and the front shank bar positioned at the rack other side is staggered
180°；It hands over the upper end of upper end hinge joint positioned at the front thigh bar of rack side and the front thigh bar positioned at the rack other side
Contact is staggered 180 °；It is staggered positioned at the upper end hinge joint of the front thigh bar of the same side and the upper end hinge joint of front shank bar
90°；First fixing seat is set to rack side and close to the first driving motor.
5. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 3 or 4, which is characterized in that institute
Stating the second crank and rocker mechanism includes the horizontal third driving motor for being set to rack rear portion two sides, the third driving motor
Output end be respectively arranged with third crankwheel, the upper end of the third crankwheel and respective side posterior calf bar is rotatablely connected,
The on both sides of the middle of the rack is horizontal to be provided with the 4th driving motor, and the output end of the 4th driving motor is provided with the 4th song
Handle wheel is hinged with second connecting rod on the 4th crankwheel, and the other end of the second connecting rod is hinged with rear portion thigh bar, described
It is hinged in the middle part of the other end of rear portion thigh bar and the posterior calf bar of respective side, second is hinged in the middle part of second connecting rod and is shaken
Bar, the other end of second rocking bar are rotatablely connected with the second fixing seat being correspondingly arranged on the upside of rack.
6. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 5, which is characterized in that be located at machine
The upper end hinge joint of the upper end hinge joint of the posterior calf bar of frame side and the posterior calf bar positioned at the rack other side is staggered
180°；It hands over the upper end of upper end hinge joint positioned at the rear portion thigh bar of rack side and the rear portion thigh bar positioned at the rack other side
Contact is staggered 180 °；It is staggered positioned at the upper end hinge joint of the rear portion thigh bar of the same side and the upper end hinge joint of posterior calf bar
90°；Second fixing seat is set to rack side and close to third driving motor.
7. the adjustable constant speed electric drive quadruped robot of a kind of center of gravity according to claim 1, which is characterized in that described anti-
The two sides at sliding foot end are fixedly connected through oblique floor with front shank bar or posterior calf bar respectively, and the anti-skidding sufficient end is by rubber
It is made.
8. a kind of application method applied to the adjustable constant speed electric drive quadruped robot of a kind of center of gravity described in claim 5,
Characterized by comprising the following steps:
(1) shank bar walking in front is controlled by the first driving motor of control and the second driving motor respectively；By controlling third
Driving motor and the 4th driving motor control the walking of posterior calf bar respectively；
(2) it when encountering upward slope, is moved before driving clump weight to be moved forward to the center of gravity for making robot by horizontal machine；Work as chance
When to descending, clump weight is driven to move backward by horizontal machine move back the center of gravity of robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557310.6A CN110126939A (en) | 2019-06-25 | 2019-06-25 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
| PCT/CN2019/123617 WO2020258733A1 (en) | 2019-06-25 | 2019-12-06 | Constant-speed electrically-driven quadruped robot having adjustable center of gravity and method of use |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910557310.6A CN110126939A (en) | 2019-06-25 | 2019-06-25 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110126939A true CN110126939A (en) | 2019-08-16 |
Family
ID=67579454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910557310.6A Pending CN110126939A (en) | 2019-06-25 | 2019-06-25 | A kind of adjustable constant speed electric drive quadruped robot of center of gravity and its application method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110126939A (en) |
| WO (1) | WO2020258733A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111161652A (en) * | 2020-02-28 | 2020-05-15 | 武子华 | Outdoor panel convenient to change propaganda exhibition page or leaf |
| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| WO2020258733A1 (en) * | 2019-06-25 | 2020-12-30 | 福州大学 | Constant-speed electrically-driven quadruped robot having adjustable center of gravity and method of use |
| CN114179925A (en) * | 2020-10-22 | 2022-03-15 | 北星空间信息技术研究院(南京)有限公司 | Real-time gravity center stabilizing method for robot with variable battery position |
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- 2019-12-06 WO PCT/CN2019/123617 patent/WO2020258733A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020258733A1 (en) * | 2019-06-25 | 2020-12-30 | 福州大学 | Constant-speed electrically-driven quadruped robot having adjustable center of gravity and method of use |
| CN111161652A (en) * | 2020-02-28 | 2020-05-15 | 武子华 | Outdoor panel convenient to change propaganda exhibition page or leaf |
| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| WO2022016877A1 (en) * | 2020-07-21 | 2022-01-27 | 李荣仲 | Quadruped robotic dog having center of gravity adjusting mechanism |
| CN114179925A (en) * | 2020-10-22 | 2022-03-15 | 北星空间信息技术研究院(南京)有限公司 | Real-time gravity center stabilizing method for robot with variable battery position |
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| Publication number | Publication date |
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| WO2020258733A1 (en) | 2020-12-30 |
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Application publication date: 20190816 |