CN111152860A - Bionic foot of four-foot robot - Google Patents

Bionic foot of four-foot robot Download PDF

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Publication number
CN111152860A
CN111152860A CN201911306902.7A CN201911306902A CN111152860A CN 111152860 A CN111152860 A CN 111152860A CN 201911306902 A CN201911306902 A CN 201911306902A CN 111152860 A CN111152860 A CN 111152860A
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CN
China
Prior art keywords
foot
bionic
mounting
walking
feet
Prior art date
Application number
CN201911306902.7A
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Chinese (zh)
Inventor
李勇
许杰兴
王太裕
Original Assignee
南京涵曦月自动化科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 南京涵曦月自动化科技有限公司 filed Critical 南京涵曦月自动化科技有限公司
Priority to CN201911306902.7A priority Critical patent/CN111152860A/en
Publication of CN111152860A publication Critical patent/CN111152860A/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/032Vehicles 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 invention discloses a bionic foot of a four-foot robot, which comprises a mounting plate, wherein front feet and rear feet which are symmetrically arranged are fixedly arranged on two sides of the mounting plate, the bottoms of the front feet and the rear feet are respectively and interactively provided with a first movable arm and a second movable arm, a buffer mechanism is arranged between the first movable arm and the second movable arm and the front feet or the rear feet which are movably arranged on the first movable arm and the second movable arm respectively, the top of the mounting plate is fixedly provided with a top block, the bottom of the mounting plate is fixedly provided with a vertical block, a cavity is arranged on the vertical block, the bottom of the vertical block is rotatably provided with a vertical shaft, and the bottom of the vertical shaft is fixedly provided with a rotary table. The bionic foot of the quadruped robot integrates the walking and running functions of the bionic foot, can walk and run, expands the application range of the bionic foot, has great progress in the bionic aspect of the quadruped robot, and provides a valuable practical foundation for the development of the quadruped robot in the future.

Description

Bionic foot of four-foot robot

Technical Field

The invention relates to the technical field of quadruped robots, in particular to a bionic foot of a quadruped robot.

Background

From "wooden ox and flowing horse" invented by Zhuge Liang in the three kingdoms of China to LS3 nickname "alpha dog" robot developed by the Boston dynamic company of America at present, the robot shows remarkable capability of adapting to severe environment all the time, and plays a great role in the fields of military transportation and detection, mining, underwater construction, nuclear industry, search and rescue detection and the like.

Most of the existing quadruped robots adopt a manufacturing concept with single function, the bionic feet of the quadruped robots cannot be manufactured into the bionic feet which can realize walking and running of the robots, and the development of the quadruped robots is limited, so that the bionic feet of the quadruped robots are provided for solving the problems.

Disclosure of Invention

The invention aims to provide a bionic foot of a quadruped robot to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a bionic foot of a four-foot robot comprises a mounting plate, wherein both sides of the mounting plate are fixedly provided with a front foot and a rear foot which are symmetrically arranged, the bottoms of the front foot and the rear foot are respectively provided with a first movable arm and a second movable arm in an interactive mode, the first movable arm and the second movable arm are respectively provided with a buffer mechanism between the front foot and the rear foot which are movably mounted, the top of the mounting plate is fixedly provided with a top block, the bottom of the mounting plate is fixedly provided with a vertical block which is provided with a cavity, the bottom of the vertical block is rotatably provided with a vertical shaft, the bottom of the vertical shaft is fixedly provided with a turntable, the bottom of the turntable is movably provided with two connecting rods which are symmetrically arranged at a central point, one sides of the two connecting rods which are far away from each other are respectively movably provided with an inserting rod, one sides of the first movable arm and the second movable arm which are close to each other are provided with slots, the two inserting rods respectively extend into the two slots, and a driving mechanism is arranged in the chamber and is in transmission connection with the vertical shaft.

Preferably, buffer gear includes the fixed block of fixed mounting in forefoot one side, the mounting hole has been seted up to one side of fixed block, one side fixed mounting of fixed block has the fixed column, one side of fixed column runs through the mounting hole and extends to one side of fixed block, the bottom fixed mounting of fixed column has the installation pole, the bottom fixed mounting of installation pole has buffer spring, one side fixed mounting of first digging arm has the spliced pole, buffer spring's bottom and the top fixed connection of spliced pole provide certain cushion effect for walking and running, can improve walking and the stability of running in-process.

Preferably, the equal fixed mounting in bottom of two first digging arms and two second digging arms has the sole board, the sole board is the arc setting, and is more stable in order to make the in-process of first digging arm and second digging arm walking and running.

Preferably, the mounting groove has been seted up at the top of kicking block, fixed mounting has walking actuating mechanism, running actuating mechanism and controller in proper order on the bottom inner wall of mounting groove, walking actuating mechanism and running actuating mechanism all with controller electric connection, will walk and run two functions and carry out the independent control through the controller that sets up.

Preferably, actuating mechanism is including fixing the driving motor on the inner wall of cavity one side, driving motor and controller electric connection, the fixed cover in one end of driving motor output shaft is equipped with first bevel gear, the top of perpendicular axle is run through the top of perpendicular piece and is extended to in the cavity, the fixed cover in outside of perpendicular axle is equipped with the second bevel gear, second bevel gear and first bevel gear mesh mutually, when driving motor's output shaft rotates, realize perpendicular axle pivoted purpose.

Preferably, the equal fixed mounting in both sides of perpendicular piece has the vertical retort, and the equal fixed mounting in bottom of two vertical retorts has the limiting plate, and the spacing groove has all been seted up to the bottom of two limiting plates, and the top of two inserted bars extends to two spacing inslots respectively and respectively with two spacing groove sliding connection, restricts two inserted bar lateral shifting's stability, guarantees that two inserted bars can be related smoothly two front feet and two back feet.

Preferably, the spread groove has been seted up to the bottom of forefoot, fixed mounting has the movable post on the spread groove, the activity hole has been seted up on the first digging arm, and the one end of activity post runs through the activity hole and extends to one side of first digging arm, and activity post and activity hole swing joint, and the flexibility ratio of first digging arm is higher.

Preferably, the friction plates are fixedly mounted at the bottoms of the four foot bottom plates, the anti-skid lugs are fixedly mounted at the bottoms of the four friction plates, friction force between the anti-skid lugs and the ground is increased, and side slipping is avoided.

Preferably, a through hole is formed in the inner wall of the bottom of the cavity, a bearing is fixedly mounted inside the through hole, and the top of the vertical shaft penetrates through an inner ring of the bearing and is welded with the inner ring of the bearing, so that the stability of the rotating position of the vertical shaft is guaranteed.

Preferably, the specific using method is as follows:

(A1) before the bionic foot walking device is used, the bottoms of the four foot bottom plates are contacted with the ground, the first movable arm and the second movable arm are prevented from sideslipping through the arranged friction plates and the arranged anti-skid lugs, the walking stability of the front feet and the rear feet is improved, the controller is used for starting the walking driving mechanism, the walking driving mechanism is used for controlling the two front feet and the two rear feet to walk, and the walking mode is that the front feet and the rear feet which are arranged diagonally are sequentially stepped forwards, so that the walking function of the bionic foot is realized;

(A2) when the bionic foot needs to run, the starting of the driving motor is controlled by the arranged controller, when the output shaft of the driving motor rotates, the purpose of rotating the first bevel gear is realized, the purpose of rotating the vertical shaft is realized by the meshing relation of the arranged first bevel gear and the second bevel gear, the vertical shaft is controlled to rotate thirty degrees clockwise, the two connecting rods provide acting forces with opposite transverse positions for the two inserted rods, the two inserted rods move transversely to the sides far away from each other along the two limiting grooves, the two inserted rods can just move into the two slots to finish the fixed installation of the two front feet and the two rear feet, the two front feet and the two rear feet can carry out synchronous motion, the walking driving mechanism is closed by the arranged controller, the running driving mechanism is simultaneously started, and the two front feet and the two rear feet of the bionic animal run synchronously, realizing the function of the bionic foot running;

(A3) in the walking and running processes of the bionic foot, the buffering effect can be provided for the first movable arm and the second movable arm at any time and any place through the arranged buffer spring, the connecting column and the mounting rod, the hard contact between the first movable arm and the second movable arm and the ground in the walking and running processes is reduced, the counter-acting force borne by the bionic foot is reduced, and the walking and running stability of the bionic foot is improved;

(A4) the invention combines the walking and running functions of the bionic foot, not only can walk, but also can run, not only expands the application range of the bionic foot, but also has long-foot progress in the bionic aspect of the quadruped robot, and provides valuable practical foundation for the development and development of the quadruped robot in the future.

Compared with the prior art, the invention has the beneficial effects that:

1. the bionic foot of the quadruped robot has the advantages that the connecting column and the buffer spring are arranged, so that the first movable arm and the second movable arm provide a buffer effect in the walking and running processes, the reaction force applied to the walking and running of the bionic foot is smaller, the stability in the walking and running processes is improved, and the first movable arm and the second movable arm cannot sideslip through the arranged foot bottom plate and the friction block.

2. The invention combines the walking and running functions of the bionic foot, not only can walk, but also can run, not only expands the application range of the bionic foot, but also has long-foot progress in the bionic aspect of the quadruped robot, and provides valuable practical foundation for the development and development of the quadruped robot in the future.

Drawings

FIG. 1 is a three-dimensional view of a portion of the structure of the present invention;

FIG. 2 is a schematic view of the main structure of the present invention;

FIG. 3 is a three-dimensional view of the structure of the stopper plate of the present invention;

FIG. 4 is an enlarged view of the portion A of FIG. 1 according to the present invention;

fig. 5 is an enlarged view of the structure of part B in fig. 2 according to the present invention.

In the figure: 1. mounting a plate; 2. a forefoot; 3. hind feet; 4. a first movable arm; 5. a second movable arm; 6. A foot plate; 7. a fixed block; 8. fixing a column; 9. mounting a rod; 10. connecting columns; 11. a buffer spring; 12. a top block; 13. a controller; 14. a running drive mechanism; 15. a walking drive mechanism; 16. a vertical block; 17. a chamber; 18. a drive motor; 19. a first bevel gear; 20. a vertical axis; 21. a second bevel gear; 22. a turntable; 23. a connecting rod; 24. a limiting plate; 25. a limiting groove; 26. inserting a rod; 27. a slot; 28. mounting holes; 29. and connecting the grooves.

Detailed Description

The embodiment of the application solves the problems in the prior art by providing the bionic foot of the quadruped robot. The following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-3, the present embodiment provides a bionic foot of a four-footed robot, including a mounting plate 1, a front foot 2 and a rear foot 3 symmetrically arranged are fixedly installed on both sides of the mounting plate 1, a first movable arm 4 and a second movable arm 5 are respectively installed at the bottoms of the front foot 2 and the rear foot 3 in an interactive manner, a buffer mechanism is arranged between the first movable arm 4 and the second movable arm 5 and the front foot 2 or the rear foot 3 movably installed thereon, respectively, a top block 12 is fixedly installed at the top of the mounting plate 1, a vertical block 16 is fixedly installed at the bottom of the mounting plate 1, a cavity 17 is arranged on the vertical block 16, a vertical shaft 20 is rotatably installed at the bottom of the vertical block 16, a turntable 22 is fixedly installed at the bottom of the vertical shaft 20, two connecting rods 23 symmetrically arranged at a central point are movably installed at the bottom of the turntable 22, an inserting rod 26 is movably installed at one side of the two connecting rods 23 far away from each other, a slot 27 is opened at one side of the first, the two insertion rods 26 extend into the two slots 27 respectively and are movably clamped with the two slots 27 respectively, and a driving mechanism is arranged in the chamber 17 and is in transmission connection with the vertical shaft 20.

Wherein, buffer gear includes fixed block 7 of fixed mounting in 2 one side of forefoot, mounting hole 28 has been seted up to one side of fixed block 7, one side fixed mounting of fixed block 7 has fixed column 8, one side of fixed column 8 runs through mounting hole 28 and extends to one side of fixed block 7, the bottom fixed mounting of fixed column 8 has installation pole 9, the bottom fixed mounting of installation pole 9 has buffer spring 11, one side fixed mounting of first digging arm 4 has spliced pole 10, buffer spring 11's bottom and spliced pole 10's top fixed connection, provide certain cushion effect for walking and running, can improve step and the stability of running in-process.

In this embodiment, the bottom of the two first movable arms 4 and the bottom of the two second movable arms 5 are both fixedly mounted with a foot bottom plate 6, and the foot bottom plate 6 is arc-shaped, so that the walking and running processes of the first movable arms 4 and the second movable arms 5 are more stable.

Example two

Referring to fig. 1-3, a further improvement is made on the basis of embodiment 1:

the top of the top block 12 is provided with a mounting groove, the inner wall of the bottom of the mounting groove is fixedly provided with a walking driving mechanism 15, a running driving mechanism 14 and a controller 13 in sequence, the walking driving mechanism 15 and the running driving mechanism 14 are both electrically connected with the controller 13, and the two functions of walking and running are controlled independently through the arranged controller 13;

the driving mechanism comprises a driving motor 18 fixed on the inner wall of one side of the cavity 17, the driving motor 18 is electrically connected with the controller 13, one end of an output shaft of the driving motor 18 is fixedly sleeved with a first bevel gear 19, the top of a vertical shaft 20 penetrates through the top of the vertical block 16 and extends into the cavity 17, the outer side of the vertical shaft 20 is fixedly sleeved with a second bevel gear 21, the second bevel gear 21 is meshed with the first bevel gear 19, and when the output shaft of the driving motor 18 rotates, the purpose of rotating the vertical shaft 20 is achieved;

the vertical bars are fixedly arranged on two sides of the vertical block 16, the limiting plates 24 are fixedly arranged at the bottoms of the two vertical bars, the limiting grooves 25 are formed in the bottoms of the two limiting plates 24, the tops of the two insertion rods 26 extend into the two limiting grooves 25 respectively and are in sliding connection with the two limiting grooves 25 respectively, the stability of the transverse movement of the two insertion rods 26 is limited, the two insertion rods 26 can be connected with the two front feet 2 and the two rear feet 3 smoothly, the connecting groove 29 is formed in the bottom of the front foot 2, the connecting groove 29 is fixedly provided with a movable column, the first movable arm 4 is provided with a movable hole, one end of the movable column penetrates through the movable hole and extends to one side of the first movable arm 4, the movable column is movably connected with the movable hole, the flexibility of the first movable arm 4 is higher, the friction plates are fixedly arranged at the bottoms of the four foot bottom plates 6, and anti-skid lugs are fixedly arranged at, the frictional force of increase and ground can not appear the phenomenon that sideslips, has seted up the through-hole on the bottom inner wall of cavity 17, and the inside fixed mounting of through-hole has the bearing, and the top of vertical axis 20 runs through the inner circle of bearing and welds mutually with the inner circle of bearing, guarantees vertical axis 20 rotational position's stability.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The bionic foot of the four-foot robot comprises a mounting plate (1), and is characterized in that: the equal fixed mounting in both sides of mounting panel (1) has preceding foot (2) and back foot (3) that the symmetry set up, the bottom of preceding foot (2) and back foot (3) is interactive respectively and is installed first digging arm (4) and second digging arm (5), first digging arm (4) and second digging arm (5) are provided with buffer gear respectively rather than between movable mounting's preceding foot (2) or back foot (3), the top fixed mounting of mounting panel (1) has kicking block (12), the bottom fixed mounting of mounting panel (1) has riser block (16), be equipped with cavity (17) on riser block (16), the bottom of riser block (16) is rotated and is installed vertical axis (20), the bottom fixed mounting of vertical axis (20) has carousel (22), the bottom movable mounting of carousel (22) has two connecting rods (23) that are the central point symmetry and set up, the two connecting rods (23) are movably mounted on one side away from each other, inserting rods (26) are movably mounted on one side, close to each other, of the first movable arm (4) and the second movable arm (5) located on the same side, inserting grooves (27) are formed in the two inserting rods (26), the two inserting rods extend into the two inserting grooves (27) respectively and are movably clamped with the two inserting grooves (27) respectively, a driving mechanism is arranged inside the cavity (17), and the driving mechanism is in transmission connection with the vertical shaft (20).
2. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: buffer gear includes fixed block (7) of fixed mounting in forefoot (2) one side, mounting hole (28) have been seted up to one side of fixed block (7), one side fixed mounting of fixed block (7) has fixed column (8), one side of fixed column (8) runs through mounting hole (28) and extends to one side of fixed block (7), the bottom fixed mounting of fixed column (8) has installation pole (9), the bottom fixed mounting of installation pole (9) has buffer spring (11), one side fixed mounting of first digging arm (4) has spliced pole (10), the bottom of buffer spring (11) and the top fixed connection of spliced pole (10).
3. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: the bottom of two first movable arms (4) and two second movable arms (5) is equal fixed mounting has sole plate (6), sole plate (6) are the arc setting.
4. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: the mounting groove has been seted up at the top of kicking block (12), fixed mounting has walking actuating mechanism (15), running actuating mechanism (14) and controller (13) in proper order on the bottom inner wall of mounting groove, walking actuating mechanism (15) and running actuating mechanism (14) all with controller (13) electric connection.
5. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: actuating mechanism is including fixing driving motor (18) on cavity (17) one side inner wall, driving motor (18) and controller (13) electric connection, the fixed cover of one end of driving motor (18) output shaft is equipped with first bevel gear (19), the top of vertical axis (20) runs through the top of riser (16) and extends to in cavity (17), the fixed cover in outside of vertical axis (20) is equipped with second bevel gear (21), second bevel gear (21) and first bevel gear (19) mesh mutually.
6. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: the equal fixed mounting in both sides of perpendicular piece (16) has the vertical retort, and the equal fixed mounting in bottom of two vertical retorts has limiting plate (24), and spacing groove (25) have all been seted up to the bottom of two limiting plate (24), and the top of two inserted bars (26) extends to respectively in two spacing groove (25) and respectively with two spacing groove (25) sliding connection.
7. The biomimetic foot of the quadruped robot as claimed in claim 1, wherein: spread groove (29) have been seted up to the bottom of forefoot (2), fixed mounting has movable post on spread groove (29), seted up the activity hole on first digging arm (4), the one end of activity post runs through the activity hole and extends to one side of first digging arm (4), and activity post and activity hole swing joint.
8. The biomimetic foot of the quadruped robot as claimed in claim 7, wherein: the bottoms of the four foot bottom plates (6) are fixedly provided with friction plates, and the bottoms of the four friction plates are fixedly provided with anti-skid lugs.
9. The biomimetic foot of the quadruped robot as claimed in claim 8, wherein: the inner wall of the bottom of the cavity (17) is provided with a through hole, a bearing is fixedly arranged in the through hole, and the top of the vertical shaft (20) penetrates through an inner ring of the bearing and is welded with the inner ring of the bearing.
10. The bionic foot of the quadruped robot as claimed in claim 1, wherein the specific use method is as follows:
(A1) before the bionic foot walking device is used, the bottoms of four foot bottom plates (6) are contacted with the ground, the phenomenon that a first movable arm (4) and a second movable arm (5) sideslip is avoided through the arranged friction plates and the arranged anti-skidding lugs, the walking stability of a front foot (2) and a rear foot (3) is improved, a walking driving mechanism (15) is started through a controller (13), the walking driving mechanism (15) controls the two front feet (2) and the two rear feet (3) to walk, the walking mode is that the front foot (2) and the rear foot (3) which are arranged diagonally take a step forward in sequence, and the walking function of the bionic foot is realized;
(A2) when the bionic foot needs to run, the starting of the driving motor (18) is controlled by the arranged controller (13), when the output shaft of the driving motor (18) rotates, the purpose of rotating the first bevel gear (19) is realized, the purpose of rotating the vertical shaft (20) is realized by the meshing relationship of the arranged first bevel gear (19) and the second bevel gear (21), the vertical shaft (20) is controlled to rotate thirty degrees clockwise, the two connecting rods (23) provide acting forces with opposite transverse positions for the two inserting rods (26), the purpose of transversely moving the two inserting rods (26) to one side far away from each other along the two limiting grooves (25) is realized, the two inserting rods (26) just can move into the two inserting grooves (27), the fixed installation of the two front feet (2) and the two rear feet (3) is completed, and the two front feet (2) and the two rear feet (3) can perform synchronous motion, the walking driving mechanism (15) is closed through the arranged controller (13), the running driving mechanism (14) is started at the same time, and the two front feet (2) and the two rear feet (3) of the bionic animal run synchronously to realize the running function of the bionic foot;
(A3) in the walking and running processes of the bionic foot, the buffering function can be provided for the first movable arm (4) and the second movable arm (5) at any time and any place through the arranged buffer spring (11), the connecting column (10) and the mounting rod (9), the hard contact between the first movable arm (4) and the second movable arm (5) and the ground in the walking and running processes is reduced, the reaction force borne by the bionic foot is reduced, and the walking and running stability of the bionic foot is improved;
(A4) the invention can integrate the walking and running functions of the bionic foot, not only can walk, but also can run, not only expands the application range of the bionic foot, but also has long-foot progress in the bionic aspect of the quadruped robot, and provides valuable practical foundation for the development and development of the quadruped robot in the future.
CN201911306902.7A 2019-12-18 2019-12-18 Bionic foot of four-foot robot CN111152860A (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202449094U (en) * 2012-01-07 2012-09-26 张鹏程 Moving mechanism of four-foot biomimetic robot
CN103395457A (en) * 2013-07-01 2013-11-20 中国科学技术大学 Multi-foot moving device based on combination driving mechanism
CN204110199U (en) * 2014-09-05 2015-01-21 西南科技大学 A kind of running gear and adopt the bio-robot of this device
US20190091857A1 (en) * 2017-09-22 2019-03-28 Virginia Tech Intellectual Properties, Inc. Articulated, Closed Kinematic Chain Planar Monopod
CN110480608A (en) * 2019-08-19 2019-11-22 长安大学 A kind of bio-robot with the parallel buffering leg and parallel flexible trunk of double drives

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202449094U (en) * 2012-01-07 2012-09-26 张鹏程 Moving mechanism of four-foot biomimetic robot
CN103395457A (en) * 2013-07-01 2013-11-20 中国科学技术大学 Multi-foot moving device based on combination driving mechanism
CN204110199U (en) * 2014-09-05 2015-01-21 西南科技大学 A kind of running gear and adopt the bio-robot of this device
US20190091857A1 (en) * 2017-09-22 2019-03-28 Virginia Tech Intellectual Properties, Inc. Articulated, Closed Kinematic Chain Planar Monopod
CN110480608A (en) * 2019-08-19 2019-11-22 长安大学 A kind of bio-robot with the parallel buffering leg and parallel flexible trunk of double drives

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