CN110217311A - A kind of quick quadruped robot based on coaxial parallel-connection mechanism - Google Patents
A kind of quick quadruped robot based on coaxial parallel-connection mechanism Download PDFInfo
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- CN110217311A CN110217311A CN201910451595.5A CN201910451595A CN110217311A CN 110217311 A CN110217311 A CN 110217311A CN 201910451595 A CN201910451595 A CN 201910451595A CN 110217311 A CN110217311 A CN 110217311A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 50
- 210000002414 leg Anatomy 0.000 claims abstract description 42
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 210000001699 lower leg Anatomy 0.000 abstract description 22
- 230000006698 induction Effects 0.000 abstract description 2
- 238000012546 transfer Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000005021 gait Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 239000003292 glue Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a kind of quick quadruped robots based on coaxial parallel-connection mechanism, including trunk, four parallel legs, it is arranged in trunk and is used to drive the movable bi-motor of parallel leg coaxially asynchronous transmission module, control and communication module and power module, parallel leg is mounted on the two sides of trunk, parallel leg includes thigh and shank, thigh includes the identical thigh bar of two root knot structures, shank includes the identical shank bar of two root knot structures, thigh bar successively hingedly forms four bars link mechanism in parallel with shank bar, two thigh bars are respectively by two motor controls on bi-motor coaxially asynchronous transmission module.The present invention while cost that legged type robot is effectively reduced, can reduce the weight of legged type robot entirety using novel parallel leg structure, have better movenent performance；And each parallel leg is all made of the coaxial induction torque transfer mode of two motors, has innovated the leg transmission principle of quadruped robot, keeps entire leg transmission mechanism more compact, moves more fast.
Description
Technical field
The present invention relates to quadruped robot technologies, and in particular to a kind of quick four-footed machine based on coaxial parallel-connection mechanism
People.
Background technique
Quadruped robot is the hot spot of current robot field's research, and quadruped robot can compared to Conventional drum robot
With it is quicker, quickly cross unstructured moving grids.By innovating the transmission system of quadruped robot, mitigate quadruped robot
Weight promotes the control performance of quadruped robot, and quadruped robot can be made to possess better flexibility, stability, environment adaptation
Property.
Application No. is the patent of invention of CN201711260907.1, it uses four supporting legs, three motors of every supporting leg, and three
A freedom degree, knee joint mitigate leg rotary inertia by the kind of drive of conveyer belt.The major defect of this quadruped robot
It is that motor is more, higher cost, each articulation angle in leg is limited, inflexible, light.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of quick quadruped robot based on coaxial parallel-connection mechanism.
To achieve the above object, the technical solution of the present invention is as follows:
A kind of quick quadruped robot based on coaxial parallel-connection mechanism, including trunk, four parallel legs, setting are in trunk
For driving the movable bi-motor of parallel leg coaxially asynchronous transmission module, control and communication module and power module, it is described
Parallel leg is mounted on the two sides of trunk, and the parallel leg includes thigh and shank, and the thigh includes structure and be equal in length
The first thigh bar and the second thigh bar, the shank includes that structure and the first shank bar being equal in length and second are small
Leg bar, the driven end of first thigh bar and the drive end of the first shank bar are hinged, the driven end of second thigh bar with
The drive end of second shank bar is hinged, and the drive end of the drive end and the second thigh bar of first thigh bar is hinged, and described
The driven end of one shank bar and the driven end of the second shank bar are hinged, and the drive end of first thigh bar and the second thigh bar is equal
Bi-motor is connected to coaxially on asynchronous transmission module, is moved with controlling the first thigh bar and the second thigh bar respectively.
Further, coaxially asynchronous transmission module includes connecting with the first thigh bar and the second thigh bar to the bi-motor
Coaxial transmision, the first driving motor and the second driving motor, the coaxial transmision include and the first thigh bar
Drive end connects and drives the first transmission shaft of the first thigh bar rotation and connect and drive with the drive end of the second thigh bar
The second driving shaft of second thigh bar rotation, first transmission shaft, which is coaxially disposed with second driving shaft and does not interfere with each other mutually, to be turned
Dynamic, first driving motor is for driving the rotation of the first transmission shaft, and second driving motor is for driving second driving shaft
Rotation.
Further, first driving motor pass through be arranged in the first driving gear, the first synchronous belt of its main shaft with
And the first synchromesh gear of setting is rotated coaxially to drive the rotation of the first transmission shaft, second driving motor with the first transmission shaft
By the way that the second driving gear of its main shaft, the second synchronous belt is arranged in and rotates coaxially the second same of setting with second driving shaft
Step gear drives second driving shaft to rotate, the disk diameter of the disk diameter of first driving gear than the first synchromesh gear
Small, the disk diameter of second driving gear is smaller than the disk diameter of the second synchromesh gear, and first driving motor turns
Axis, the shaft of the second driving motor and coaxial transmision position line form equilateral triangle.
Further, the coaxial transmision further includes the fixation being set in outside the first transmission shaft and second driving shaft
Base, the second driving shaft are set in outside the first transmission shaft, are provided between first transmission shaft and second driving shaft
Bearing is provided with bearing between the second driving shaft and fixed base so that its mutually indepedent turn so that its mutually indepedent rotation
It is dynamic.
Further, the end of the driven end of the driven end end of the first shank bar or the second shank bar is equipped with rubber
Glue foot pad.
Further, the control and communication module include for controlling the bi-motor volume that coaxially asynchronous transmission module operates
Code device circuit board and central controller, the central controller are arranged in trunk bottom, the bi-motor coaxially asynchronous transmission
The side of trunk installation parallel leg is arranged in module.
Further, the trunk includes the trunk side plate that trunk two sides are arranged in, is arranged at trunk front-rear direction both ends
Trunk mounting angle plate and the fixed bottom plate of trunk of trunk bottom is set, the trunk side plate, trunk mounting angle plate and
The fixed bottom plate of trunk is interconnected and fixed combination and forms whole trunk.
Compared with the prior art, the invention has the following advantages:
The present invention uses novel parallel leg structure, compared with the structure of existing common legged type robot leg, effectively
While reducing the cost of legged type robot, the weight of legged type robot entirety can be reduced, there is legged type robot better
Movenent performance；And each parallel leg is all made of the coaxial induction torque transfer mode of two motors, has innovated quadruped robot
Leg transmission principle, keep entire leg transmission mechanism more compact；And leg structure use symmetric parallel link mechanism, two
A motor drives monosymmetric thigh bar simultaneously, keeps leg torque bigger, and power performance is more excellent, and jump and walking ability have
Larger raising, while this symmetric parallel link mechanism, stability is more preferable, and reliability is higher, and a motor goes wrong, another
Normal walking function still may be implemented in a motor movement.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the quick quadruped robot based on coaxial parallel-connection mechanism；
Fig. 2 is the structural schematic diagram of the leg section in parallel of the quick quadruped robot based on coaxial parallel-connection mechanism；
Fig. 3 is the knot of the coaxial asynchronous transmission module part of bi-motor of the quick quadruped robot based on coaxial parallel-connection mechanism
Structure schematic diagram；
Fig. 4 is the schematic diagram of internal structure that the quick quadruped robot based on coaxial parallel-connection mechanism connects bar part；
Description of symbols: 1, trunk；11, trunk side plate；12, trunk mounting angle plate；2, parallel leg；21, thigh；211,
First thigh bar；212, the second thigh bar；22, shank；221, the first shank bar；222, the second shank bar；23, rubber foot pad；
3, the coaxial asynchronous transmission module of bi-motor；311, the first driving motor；312, the first synchronous belt；313, the first synchromesh gear；
314, the first driving gear；321, the second driving motor；322, the second synchronous belt；323, the second synchromesh gear；324, second is main
Moving gear；33, coaxial transmision；331, the first transmission shaft；332, second driving shaft；333, bearing；34, fixed base；41,
Encoder circuit plate.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Embodiment
As shown in Figure 1, a kind of quick quadruped robot based on coaxial parallel-connection mechanism, including 1, four parallel leg 2 of trunk,
Be arranged in trunk 1 for drive the movable bi-motor of parallel leg 2 coaxially asynchronous transmission module 3, control and communication module with
And power module.Control is mainly used for controlling the bi-motor coaxially running of asynchronous transmission module 3 and to entirety with communication module
The gait control of legged type robot, and power module is used for for whole robot power supply.
Trunk 1 includes that the trunk side plate 11 that 1 two sides of trunk are arranged in, the trunk for being arranged in 1 front-rear direction both ends of trunk are solid
Determine bent plate 12 and the fixed bottom plate of trunk of 1 bottom of trunk is set, trunk side plate 11, trunk mounting angle plate 12 and trunk are solid
The edge for determining bottom plate is interconnected and fixed combination and forms whole trunk 1, and power module is mounted on the lower end of 1 bottom plate of trunk
Two sides on front side of face.
As depicted in figs. 1 and 2, parallel leg 2 is mounted on the two sides of trunk 1, is specially mounted on trunk side plate 11, in parallel
Leg 2 includes thigh 21 and shank 22, and thigh 21 includes structure and the first thigh bar 211 and the second thigh bar that are equal in length
212, shank 22 includes structure and the first shank bar 221 and the second shank bar 222 that are equal in length, the first thigh bar 211
Driven end and the first shank bar 221 drive end it is hinged, the master of the driven end of the second thigh bar 212 and the second shank bar 222
Moved end is hinged, and the drive end of first thigh bar 211 and the drive end of the second thigh bar 212 are hinged, the first shank bar 221
The driven end of driven end and the second shank bar 222 is hinged, forms the link mechanism in parallel of four connecting rods composition, enables whole leg knot
Structure is more stable.The drive end of first thigh bar 211 and the second thigh bar 212 is connected to bi-motor coaxially asynchronous transmission module 3
On, it is moved with controlling the first thigh bar 211 and the second thigh bar 212 respectively, the driven end end of the first shank bar 221 is equipped with rubber
Glue foot pad 23 can play the role of buffering and increase friction when parallel leg 2 is walked.
As shown in Fig. 1, Fig. 3 and Fig. 4, bi-motor coaxially asynchronous transmission module 3 mainly by two motor modules and one
Coaxial transmision 33 forms.The outermost layer of coaxial transmision 33 is the fixed base 34 of transmission device, and fixed base 34 is logical
It crosses screw and the assembly of 1 side plate of trunk is fixed, the inner wall of fixed base 34 passes through bearing 333 and 332 assembly connection of second driving shaft,
First transmission shaft 331 and second driving shaft 332 are all hollow cylindrical tube shape structures, and the first transmission shaft 331 is nested in the second biography
Keep coaxial within moving axis 332, and the both ends of the first transmission shaft 331 are by bearing 333 and 332 assembly connection of second driving shaft.
First synchromesh gear 313 is fixed in the outside of coaxial transmision 33, and by pin and the assembly of the first transmission shaft 331；Second
Synchromesh gear 323 is fixed in the inside of coaxial transmision 33, and by pin and the assembly of second driving shaft 332.
The axle center of first driving motor 311 and the second driving motor 321 and transmission device is respectively in 60 ° of angles and apart from phase
Deng forming an equilateral triangle, two motors and coaxial transmision 33 are respectively by two conveyer belt assembly connections.First drives
Dynamic 311 bottom surface of motor and 1 side plate of trunk pass through screw assembly connection.The stator and motor housing of first driving motor 311 assemble
Fixed, one end of the main shaft of the rotor of the first driving motor 311 and the first driving motor 311, which is assembled, to be fixed, the first driving motor
The other end of 311 main shaft and the first driving gear 314 are assembled by screw to be fixed, and the first driving gear 314 is same by first
Walk 313 assembly connection of the first synchromesh gear of band 312 and coaxial transmision 33；Second driving motor, 321 bottom surface is directly and body
Dry 1 side plate passes through screw assembly connection.Stator and the motor housing assembly of second driving motor 321 are fixed, the second driving motor
Main shaft one end of 321 rotor and the second driving motor 321 assembly fix, the other end of the main shaft of the second driving motor 321 with
Second driving gear 324 is assembled by screw and is fixed, and the second driving gear 324 is filled by the second synchronous belt 322 with coaxial transmission
Set 33 323 assembly connection of the second synchromesh gear.
Since the first driving gear 314 and the second driving gear 324 are independent rotations, the first synchromesh gear 313 is driven
Independent rotation mutually is also kept with the second synchromesh gear 323, and the first transmission shaft 331 and second driving shaft 332 is finally driven also to protect
Hold mutually indepedent rotation.The disk diameter of synchromesh gear is bigger than the disk diameter of driving gear, there is a deceleration in V belt translation
Than can reduce the revolving speed of transmission main shaft and increase its torque.First driving motor 311 and the second driving motor 321 and coaxial
Transmission device 33 distinguishes assembly connection by triangle fixed plate and three bearings 333, for controlling the opposite position of three intermodules
Set precision.It will cause that conveyer belt assembly is too tight or too loose, and tension can significantly subtract because three's relative positional accuracy error is excessive
Small machine output torque, excessively loose conveyer belt can skid, and influence the control precision of parallel institution leg.
Control and the coding that communication module includes for controlling the first driving motor 311 and the running of the second driving motor 321
Device circuit board 41 and central controller share 8, therefore encoder circuit plate 41 by driving motor one in this present embodiment
Also there are 8, each is controlled for driving motor altogether, and is fixed on the first driving motor on trunk side plate 11
311 and second driving motor 321 install position at, and central controller be arranged in 1 bottom of trunk.Encoder circuit plate 41 is main
The angular signal of driving motor is received, then drive circuit board control driving motor is rotated with torque mode or mode position,
Central controller circuit board forms instantaneous gait control instruction, and the encoder circuit plate being simultaneously sent on legged type robot
41, control the maneuvers such as walking or the jump of quadruped robot.
It is specifically expert at when walk about, the symmetrical center line and ground level of a certain moment left front leg parallel connection link mechanism are hung down
Directly, encoder circuit plate 41 issues instruction control left front leg and takes a step forward, and the first driving motor 311 controls the first thigh bar at this time
211 rotational angle a forward, the second driving motor 321 control the second thigh bar 212 rotational angle b forward, wherein with robot to
Preceding direction is positive, and rearwardly direction is negative, angleThe as angle that steps forward of left front leg passes through control first
Driving motor 311, the second driving motor 321 corner be angle that controllable leg is taken a step, pass through four leg gait motions
Alternately the walking movement of quadruped robot can be realized in control.
Simply to illustrate that technical concepts and features of the invention, its purpose is allows in the art above-described embodiment
Those of ordinary skill cans understand the content of the present invention and implement it accordingly, and it is not intended to limit the scope of the present invention.It is all
It is the equivalent changes or modifications that the essence of content according to the present invention is made, should be covered by the scope of protection of the present invention.
Claims (7)
1. a kind of quick quadruped robot based on coaxial parallel-connection mechanism, it is characterised in that: including trunk (1), four parallel legs
(2), be arranged in trunk (1) for drive parallel leg (2) movable bi-motor coaxially asynchronous transmission module (3), control with
Communication module and power module, the parallel leg (2) are mounted on the two sides of trunk (1), and the parallel leg (2) includes thigh
(21) and shank (22), the thigh (21) includes structure and the first thigh bar (211) and the second thigh that are equal in length
Bar (212), the shank (22) include structure and the first shank bar (221) and the second shank bar (222) that are equal in length,
The driven end of first thigh bar (211) and the drive end of the first shank bar (221) are hinged, second thigh bar (212)
Driven end and the second shank bar (222) drive end it is hinged, the drive end and the second thigh bar of first thigh bar (211)
(212) drive end is hinged, and the driven end of the first shank bar (221) and the driven end of the second shank bar (222) are hinged, institute
The drive end for stating the first thigh bar (211) and the second thigh bar (212) is connected to bi-motor coaxially asynchronous transmission module (3)
On, it is moved with controlling the first thigh bar (211) and the second thigh bar (212) respectively.
2. the quick quadruped robot according to claim 1 based on coaxial parallel-connection mechanism, it is characterised in that: double electricity
Coaxially asynchronous transmission module (3) includes the coaxial transmision connecting with the first thigh bar (211) and the second thigh bar (212) to machine
(33), the first driving motor (311) and the second driving motor (321), the coaxial transmision (33) include with it is first big
The drive end of leg bar (211) connect and drive the first thigh bar (211) rotate the first transmission shaft (331) and with the second thigh
The second driving shaft (332) that the drive end of bar (212) connects and the second thigh bar (212) is driven to rotate, first transmission shaft
(331) rotation is coaxially disposed and not interfere with each other mutually with second driving shaft (332), and first driving motor (311) is for driving
First transmission shaft (331) rotation, second driving motor (321) is for driving second driving shaft (332) to rotate.
3. the quick quadruped robot according to claim 2 based on coaxial parallel-connection mechanism, it is characterised in that: described first
Driving motor (311) passes through the first driving gear (314) that its main shaft is arranged in, the first synchronous belt (312) and passes with first
Moving axis (331) rotates coaxially the first synchromesh gear (313) of setting to drive the first transmission shaft (331) to rotate, and described second drives
Dynamic motor (321) pass through the second driving gear (324) that its main shaft is arranged in, the second synchronous belt (322) and are driven with second
Axis (332) rotates coaxially the second synchromesh gear (323) of setting to drive second driving shaft (332) to rotate, and described first actively
The disk diameter of gear (314) is smaller than the disk diameter of the first synchromesh gear (313), the disk of second driving gear (324)
Face diameter is smaller than the disk diameter of the second synchromesh gear (323), the shaft of first driving motor (311), the second driving electricity
The shaft and coaxial transmision (33) position line of machine (321) form equilateral triangle.
4. the quick quadruped robot according to claim 2 based on coaxial parallel-connection mechanism, it is characterised in that: described coaxial
Transmission device (33) further includes the fixed base (34) for being set in the first transmission shaft (331) and second driving shaft (332) outside, institute
It states second driving shaft (332) and is set in the first transmission shaft (331) outside, first transmission shaft (331) and second driving shaft
(332) bearing (333) is provided between so that its it is mutually indepedent rotate, the second driving shaft (332) and fixed base (34)
Between be provided with bearing (333) so that it mutually indepedent is rotated.
5. the quick quadruped robot according to claim 1 based on coaxial parallel-connection mechanism, it is characterised in that: described first
The end of the driven end of the driven end end of shank bar (221) or the second shank bar (222) is equipped with rubber foot pad (23).
6. -5 any quick quadruped robot based on coaxial parallel-connection mechanism according to claim 1, it is characterised in that: institute
State control and communication module include for control bi-motor coaxially asynchronous transmission module (3) running encoder circuit plate (41) with
And central controller, the central controller are arranged in trunk (1) bottom, coaxially asynchronous transmission module (3) sets the bi-motor
It sets in the side of trunk (1) installation parallel leg (2).
7. the quick quadruped robot according to claim 1 based on coaxial parallel-connection mechanism, it is characterised in that: the trunk
(1) include setting trunk (1) two sides trunk side plate (11), setting trunk (1) front-rear direction both ends trunk fixation it is curved
The fixed bottom plate of the trunk of plate (12) and setting in trunk (1) bottom, the trunk side plate (11), trunk mounting angle plate (12) with
And the fixed bottom plate of trunk is interconnected and fixed combination and forms whole trunk (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910451595.5A CN110217311B (en) | 2019-05-28 | 2019-05-28 | Agile four-foot robot based on coaxial parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910451595.5A CN110217311B (en) | 2019-05-28 | 2019-05-28 | Agile four-foot robot based on coaxial parallel mechanism |
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| CN110217311A true CN110217311A (en) | 2019-09-10 |
| CN110217311B CN110217311B (en) | 2024-01-26 |
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| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
| CN111002307A (en) * | 2019-11-20 | 2020-04-14 | 山东大学 | Leg-foot type bionic robot dog with visual navigation and control method thereof |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN111605799A (en) * | 2020-05-22 | 2020-09-01 | 范驰 | Box taking device and box taking method |
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| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
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| CN110217314A (en) * | 2019-07-03 | 2019-09-10 | 广东仙童智能机器人科技有限公司 | A kind of robot |
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| CN111301552B (en) * | 2020-02-26 | 2022-03-08 | 佛山职业技术学院 | Robot leg power system and control method thereof |
| CN111301552A (en) * | 2020-02-26 | 2020-06-19 | 北京理工大学珠海学院 | Robot leg power system and control method thereof |
| CN111605799A (en) * | 2020-05-22 | 2020-09-01 | 范驰 | Box taking device and box taking method |
| CN111924019A (en) * | 2020-07-29 | 2020-11-13 | 北京科技大学 | Eight-degree-of-freedom disc type brushless motor driven quadruped robot |
| US11993123B2 (en) | 2020-08-12 | 2024-05-28 | Tencent Technology (Shenzhen) Company Limited | Mechanical leg and wheeled mobile device |
| CN112849293A (en) * | 2021-02-09 | 2021-05-28 | 合肥工业大学 | Cell-changeable wheel-foot type quadruped robot |
| CN112849293B (en) * | 2021-02-09 | 2022-04-22 | 合肥工业大学 | Cell-changeable wheel-foot type quadruped robot |
| CN113022822A (en) * | 2021-03-11 | 2021-06-25 | 南方科技大学 | Underwater outer limb and application thereof |
| CN113001516A (en) * | 2021-03-11 | 2021-06-22 | 南方科技大学 | Over-constrained amphibious robot |
| CN113022822B (en) * | 2021-03-11 | 2023-08-08 | 南方科技大学 | Underwater outer limb and application thereof |
| CN113001517A (en) * | 2021-03-11 | 2021-06-22 | 南方科技大学 | Over-constrained movement device and robot |
| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
| CN113511283A (en) * | 2021-07-14 | 2021-10-19 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
| CN113511283B (en) * | 2021-07-14 | 2022-05-06 | 昆明理工大学 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
| CN114852211A (en) * | 2022-05-31 | 2022-08-05 | 华南理工大学 | Torsion-resistant truss-based parallel quadruped robot device and control method thereof |
| CN114906249A (en) * | 2022-06-10 | 2022-08-16 | 中国人民解放军国防科技大学 | Twelve-degree-of-freedom parallel bionic quadruped robot |
| CN114906249B (en) * | 2022-06-10 | 2024-02-02 | 中国人民解放军国防科技大学 | Twelve-degree-of-freedom parallel bionic four-foot robot |
| WO2024109297A1 (en) * | 2022-11-22 | 2024-05-30 | Oppo广东移动通信有限公司 | Robot |
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