CN111731407B - High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot - Google Patents
High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot Download PDFInfo
- Publication number
- CN111731407B CN111731407B CN202010842738.8A CN202010842738A CN111731407B CN 111731407 B CN111731407 B CN 111731407B CN 202010842738 A CN202010842738 A CN 202010842738A CN 111731407 B CN111731407 B CN 111731407B
- Authority
- CN
- China
- Prior art keywords
- motor
- joint
- layout
- hip
- freedom
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a layout and design method of a high-energy-efficiency lightweight leg-foot structure of a biped robot, which comprises the following steps of firstly determining the layout forms of driving motors at each multi-degree-of-freedom joint of the biped robot, wherein the layout forms comprise a series connection form and a parallel connection form; then determining the layout sequence of the driving motors at each multi-degree-of-freedom joint of the biped robot; finally, from the angle of energy efficiency optimization, the size layout among the driving motors at each joint of the biped robot is carried out; the layout form, the layout sequence and the size layout design scheme of the driving motors of the leg joints and the foot joints of the biped robot are provided. Based on the layout and design method of the leg-foot structure of the biped robot, the rotational inertia of the leg-foot structure of the biped robot can be effectively reduced, the walking energy efficiency of the robot is improved, and the cruising ability of the robot is improved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a high-energy-efficiency lightweight leg-foot structure layout and design method of a biped robot.
Background
The body structure of the biped robot is equivalent to the human body, and the structural layout and the design are good or bad, so that the comprehensive performance of the robot is directly related. At present, researchers in China mainly consider the realization of basic motion functions when carrying out structural layout and design of a biped robot, the design process mainly focuses on freedom configuration, selection of joint drivers, structural strength check and the like, and specific structural layout and design aspects mainly refer to the technology of the Japanese biped robot, including ZJUKong of Zhejiang university described in Master paper "humanoid robot structural design and analysis" and BHR-6P of Beijing physical engineering university described in recent journal paper "Contact Force/Torque Control Based on viscoelasticity Model for Stable fashion Bipedal walk Indexing Terraining". The design of the biped robot mainly focuses on the realization of the motion function, a motor shaft of a robot joint is generally superposed with a rotating shaft of the degree of freedom of the robot joint, and the influence of mass distribution on the performance of a robot system is less considered, so that the leg-foot structure of the robot has larger rotating inertia, the walking energy consumption of the robot is higher, and the cruising ability is weaker. In the darpa robot challenge in 2015, the DURUS robot in the united states walked at low speed for 2 hours or more, and was rated as the biped robot with the highest energy efficiency at that time, whose walking energy efficiency was twice that of the japanese ASIMO robot. Compared with other robots, the DURUS robot has lighter legs and obviously concentrated mass distribution towards the trunk. In addition to the DURUS robot, the most recent Cassie and Digit robots in the United states also appear to have similar structural features. In summary, although researchers develop model machines of biped robots with higher energy efficiency, scientific and systematic layout and design methods of energy-efficient lightweight leg-foot structures are still lacking at home and abroad to guide the design of biped robots.
Disclosure of Invention
The invention aims to provide an energy-efficient lightweight leg-foot structure layout and a design method of a biped robot, aiming at the defects of the prior art.
The purpose of the invention is realized by the following technical scheme: a layout and design method for a high-energy-efficiency lightweight leg-foot structure of a biped robot comprises the following steps:
determining the layout forms of driving motors at each multi-degree-of-freedom joint of the biped robot, wherein the layout forms comprise a series connection form and a parallel connection form;
determining the layout sequence of the driving motors at the joints of the multiple degrees of freedom of the biped robot;
and step three, from the energy efficiency optimization angle, performing size layout among the driving motors at each joint of the biped robot.
Further, in the first step, the multi-degree-of-freedom joint comprises an ankle joint and a hip joint, the ankle joint adopts two driving motors which are connected in parallel, and the hip joint adopts three driving motors which are connected in series.
Further, the second step comprises the following substeps:
(2.1) determining the layout sequence of the drive motors at the ankle joints: because the two driving motors at the ankle joint are in a parallel connection mode, the layout sequence is selected randomly;
(2.2) determining a layout sequence of the drive motors at the hip joint, comprising the sub-steps of:
(2.2.1) the rotational inertia of the three driving motors at the hip joint is J, and the three driving motors are sorted into a first motor, a second motor and a third motor from near to far according to the distance from the trunk;the moment of inertia of the hip joint as a whole around the axis of rotation of the first motor is J in the locked state of the hip joint1，J1>3J; the second motor and the third motor as a whole have a moment of inertia J about the axis of rotation of the second motor2，2J< J2< J1(ii) a The moment of inertia of the third motor around the third motor's axis of rotation is J3，J3= J; when walking, the peak value of the acceleration of the pitching freedom degree of the hip joint is alpha, and the yaw freedom degree and the rolling freedom degree of the hip joint are in a locked state;
(2.2.2) when the hip joint pitching freedom degree driving motors are respectively a first motor, a second motor and a third motor, the peak torque of the hip joint pitching freedom degree driving motor is respectively J1α、J2α、J3α; and (3) taking the minimum peak moment as an optimization target, and arranging the hip joint pitching freedom degree driving motors into a third motor according to the step (1).
Furthermore, the hip joint rolling freedom degree driving motor is distributed as a first motor, and the hip joint yawing freedom degree driving motor is distributed as a second motor.
Further, the third step includes the following substeps:
(3.1) designing the size layout of the hip joint driving motor: in order to reduce the leg rotary inertia of the robot and improve the walking efficiency, a hip joint rolling freedom degree driving motor and a hip joint yawing freedom degree driving motor are arranged on the trunk of the robot; the optimization design problem of the size layout of the hip joint pitching freedom degree driving motor is as follows:
wherein, Ch,pM represents the moment of inertia of the hip pitch degree of freedom driving motor around the hip joint roll axish,pRepresenting the hip pitch degree of freedom driving the motor mass, dh,pRepresenting the distance between the hip pitch degree of freedom drive motor shaft and the hip roll axis, fh,pRepresenting each design constraint; by moment of inertia Ch,pMinimum as optimization target for size layout of hip joint pitch degree of freedom drive motor and considering constraint condition fh,pDistance dh,pThe smaller the size, the better the optimization objective is met;
(3.2) designing the size layout of the ankle joint driving motor: the optimal design problem of the size layout of the ankle joint driving motor is as follows:
wherein, CaThe moment of inertia of the two ankle joint driving motors around the knee joint rotating shaft is represented, and the moment of inertia of the two ankle joint driving motors is JaMass is ma，da,1Indicates the distance between the first motor shaft of the ankle joint and the rotating shaft of the knee joint, da,2Indicates the distance between the second motor shaft of the ankle joint and the rotating shaft of the knee joint, faRepresenting each design constraint; by moment of inertia CaMinimum as optimization target of ankle joint drive motor size layout and considering constraint condition faSo that the rotational axis of the first motor of the ankle joint coincides with the rotational axis of the degree of freedom of the knee joint, i.e. da,1=0, and a distance da,2The smaller the size, the better the optimization objective is met;
(3.3) designing the size layout of the knee joint driving motor: the optimal design problem of the size layout of the knee joint driving motor is as follows:
wherein, CkRepresenting the moment of inertia of the knee-joint drive motor about the axis of rotation of the hip-joint third motor, JkM represents the moment of inertia of the knee joint drive motorkRepresents the knee joint drive motor mass, dkRepresents the distance between the knee joint drive motor shaft and the hip joint third motor rotating shaft, fkRepresenting each design constraint; by moment of inertia CkMinimum as optimization target and considering constraint condition fkDistance dkThe smaller the optimization objective is.
The invention has the beneficial effects that: the invention provides a high-energy-efficiency lightweight leg-foot structure layout and a design method of a biped robot. The method provides a layout form, a layout sequence and a size layout design scheme of driving motors of all leg and foot joints of the biped robot. Based on the layout and design method of the leg-foot structure of the biped robot, the rotational inertia of the leg-foot structure of the biped robot can be effectively reduced, the walking energy efficiency of the robot is improved, and the cruising ability of the robot is improved.
Drawings
Fig. 1 is a schematic design diagram of a three-dimensional model of a biped robot, wherein a is an axonometric view and b is a front view.
Detailed Description
The invention is further illustrated by the following figures and examples.
As shown in fig. 1, the energy-efficient lightweight leg and foot structure of the biped robot comprises a hip joint first motor, a hip joint first motor connecting rod, a hip joint second motor, a hip joint third motor, a knee joint motor connecting rod, an ankle joint first motor, an ankle joint second motor, an ankle joint first motor connecting rod and an ankle joint second motor connecting rod. Wherein, ankle joint first motor all adopts the connecting rod to carry out the transmission with ankle joint second motor, knee joint motor and hip joint first motor, specifically is: the first hip joint motor rotating shaft is connected with the second hip joint motor rotating shaft through a first hip joint motor connecting rod, and the knee joint motor rotating shaft is connected with the first ankle joint motor rotating shaft through a knee joint motor connecting rod; the first motor rotating shaft of the ankle joint is connected with the sole through the first motor connecting rod of the ankle joint, and the second motor rotating shaft of the ankle joint is connected with the sole through the second motor connecting rod of the ankle joint.
The invention provides a high-energy-efficiency lightweight leg-foot structure layout and design method of a biped robot, which comprises the following steps:
step one, determining the layout form of each leg and foot joint driving motor of the biped robot. For the multi-degree-of-freedom joint, the motor layout at the joint adopts a series connection or parallel connection mode. As shown in fig. 1, in the embodiment, two motors at the ankle joint of the robot are in a parallel connection mode, and three motors at the hip joint are in a series connection mode.
And step two, determining the layout sequence of the driving motors at the joints with multiple degrees of freedom of the biped robot, including the layout sequence of the driving motors at the ankle joints and the hip joints.
First, the layout order of the drive motors at the ankle joint is determined. Because the ankle joint adopts a parallel connection mode, the layout sequence of the two driving motors at the joint can be selected at will, and the layout sequence of the embodiment is shown in figure 1 b;
and then, according to the moment driving condition of the hip joint of the biped robot under the conventional walking condition, considering the peak moment of the motor, and determining the layout sequence of the motor at the hip joint by a qualitative analysis method. Under the condition of normal walking, the robot mainly controls the pitch freedom degree of the hip joint, and the yaw freedom degree and the rolling freedom degree of the hip joint are always in a locked state. Based on this finding, the layout order of the hip joint motor in this embodiment is determined by the following qualitative analysis method:
1) setting the assumed conditions of qualitative analysis. The three driving motors at the hip joint are consistent in type selection, the rotary inertia is J, and the rotary inertia of the hip joint as a whole around the first motor rotating shaft of the hip joint closest to the trunk is J under the locking state of the hip joint1（J1>3J) The moment of inertia of the second hip joint motor and the third hip joint motor as a whole around the rotation axis of the second hip joint motor is J2（2J< J2< J1) The third motor of hip joint farthest from trunkMoment of inertia about its axis of rotation is J3（J3= J). Under the condition of normal walking, the peak value of the acceleration of the pitch freedom degree of the hip joint is set as alpha, and the yaw freedom degree of the hip joint and the rolling freedom degree of the hip joint are in a locked state.
2) And determining the layout sequence of the series motors by taking the minimum peak torque of the hip joint motor as an optimization target. When the hip joint pitching freedom degree driving motors are respectively used as a first motor, a second motor and a third motor, the peak torque of the hip joint motor is J1α、J2α、J3α. Based on the result, as shown in fig. 1b, the hip pitch degree of freedom drive motor is arranged as the third motor, and the arrangement sequence of the other two drive motors is determined according to the assembly situation, in this embodiment, the hip roll degree of freedom drive motor is used as the first motor, and the hip yaw degree of freedom drive motor is used as the second motor.
And step three, from the angle of energy efficiency optimization, carrying out size layout of the leg-foot joint driving motors of the biped robot, and further carrying out structural design.
First, the size layout of the hip joint drive motor is designed. As shown in fig. 1b, in order to reduce the moment of inertia of the robot legs and improve walking energy efficiency, the driving motors of the hip joint rolling freedom degree and the yaw freedom degree are arranged on the robot trunk; the size layout design of the hip joint pitching freedom degree driving motor is converted into the optimization design problem that the minimum moment of inertia of the hip joint pitching freedom degree driving motor around the hip joint rolling axis is taken as an optimization target, and the assembly interference and other structural design constraint conditions are considered, and the optimization design problem is as follows:
wherein, Ch,pM represents the moment of inertia of the hip pitch degree of freedom driving motor around the hip joint roll axish,pRepresenting motor mass, dh,pRepresenting the distance between the hip pitch degree of freedom drive motor shaft and the hip roll axis, fh,pRepresenting various design constraints. Thus, the distance d between the hip pitch degree of freedom drive motor shaft and the hip roll axish,pThe smaller the moment of inertia C of the hip joint pitch degree of freedom driving motor around the hip joint rolling axish,pThe smaller.
Then, the size layout design of the ankle joint drive motor is performed. In order to reduce the rotational inertia of the leg of the robot, the size layout design of the ankle joint motor is converted into the optimal design problem that the rotational inertia of the ankle joint motor overall rotating shaft around the knee joint is minimum and the assembly interference and other structural design constraint conditions are considered:
wherein, CaRepresenting the total moment of inertia, J, of the ankle joint motor about the axis of rotation of the knee jointaRepresents the moment of inertia of the ankle joint motor, maIndicates the mass of the ankle joint motor, da,1Indicates the distance between the first motor shaft of the ankle joint and the rotating shaft of the knee joint, da,2Indicates the distance between the second motor shaft of the ankle joint and the rotating shaft of the knee joint, faRepresenting various design constraints. For this purpose, in the present embodiment, the robot ankle joint first motor rotation axis is made coincident with the rotation axis of the knee joint degree of freedom, i.e. d, as shown in fig. 1ba,1=0, and let the mass distribution of ankle joint second motor promote as far as possible under the condition that satisfies structural design constraint, the distance d between ankle joint second motor shaft and knee joint axis of rotationa,2The smaller the total moment of inertia C of the ankle joint motor around the knee joint rotation axisaThe smaller.
And finally, designing the size layout of the knee joint driving motor. In order to reduce the rotational inertia of the leg of the robot, the size layout design of the knee joint driving motor is converted into an optimization design problem which takes the minimum rotational inertia of the knee joint motor around the rotating shaft of the hip joint third motor as an optimization target and considers the assembly interference and other structural design constraint conditions:
wherein, CkRepresenting the moment of inertia of the knee joint motor about the axis of rotation of the hip joint third motor, JkRepresents the moment of inertia of the knee joint motor, mkRepresents the knee joint motor mass, dkRepresents the distance between the knee joint motor shaft and the hip joint third motor rotating shaft, fkRepresenting various design constraints. Therefore, in the present embodiment, as shown in fig. 1b, the knee joint motor is lifted as much as possible, and the distance d between the knee joint motor shaft and the hip joint third motor rotating shaftkThe smaller the inertia C of the knee joint motor around the rotating shaft of the hip joint third motorkThe smaller.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (2)
1. A layout and design method for a high-energy-efficiency lightweight leg-foot structure of a biped robot is characterized by comprising the following steps:
determining the layout forms of driving motors at each multi-degree-of-freedom joint of the biped robot, wherein the layout forms comprise a series connection form and a parallel connection form; the multi-degree-of-freedom joint comprises an ankle joint and a hip joint, wherein the ankle joint adopts two driving motors in a parallel connection mode, and the hip joint adopts three driving motors in a serial connection mode;
step two, determining the layout sequence of the driving motors at the joints with multiple degrees of freedom of the biped robot, and comprising the following substeps:
(2.1) determining the layout sequence of the drive motors at the ankle joints: because the two driving motors at the ankle joint are in a parallel connection mode, the layout sequence is selected randomly;
(2.2) determining a layout sequence of the drive motors at the hip joint, comprising the sub-steps of:
(2.2.1) the rotational inertia of the three driving motors at the hip joint is J, and the three driving motors are sorted into a first motor, a second motor and a third motor from near to far according to the distance from the trunk; the moment of inertia of the hip joint as a whole around the axis of rotation of the first motor is J in the locked state of the hip joint1，J1>3J; the second motor and the third motor as a whole have a moment of inertia J about the axis of rotation of the second motor2，2J<J2<J1(ii) a The moment of inertia of the third motor around the third motor's axis of rotation is J3，J3J; when walking, the peak value of the acceleration of the pitching freedom degree of the hip joint is alpha, and the yaw freedom degree and the rolling freedom degree of the hip joint are in a locked state;
(2.2.2) when the hip joint pitching freedom degree driving motors are respectively a first motor, a second motor and a third motor, the peak torque of the hip joint pitching freedom degree driving motor is respectively J1α、J2α、J3α; taking the minimum peak moment as an optimization target, and arranging the hip joint pitching freedom degree driving motors into third motors according to the step (1);
thirdly, from the aspect of energy efficiency optimization, performing size layout among driving motors at each joint of the biped robot;
the third step comprises the following substeps:
(3.1) designing the size layout of the hip joint driving motor: in order to reduce the leg rotary inertia of the robot and improve the walking efficiency, a hip joint rolling freedom degree driving motor and a hip joint yawing freedom degree driving motor are arranged on the trunk of the robot; the optimization design problem of the size layout of the hip joint pitching freedom degree driving motor is as follows:
s.t.fh,p(dh,p)<0
wherein, Ch,pM represents the moment of inertia of the hip pitch degree of freedom driving motor around the hip joint roll axish,pRepresenting the hip pitch degree of freedom driving the motor mass, dh,pRepresenting the distance between the hip pitch degree of freedom drive motor shaft and the hip roll axis, fh,pRepresenting each design constraint; by moment of inertia Ch,pMinimum as optimization target for size layout of hip joint pitch degree of freedom drive motor and considering constraint condition fh,pDistance dh,pThe smaller the size, the better the optimization objective is met;
(3.2) designing the size layout of the ankle joint driving motor: the optimal design problem of the size layout of the ankle joint driving motor is as follows:
s.t.fa(da,1,da,2)<0
wherein, CaThe moment of inertia of the two ankle joint driving motors around the knee joint rotating shaft is represented, and the moment of inertia of the two ankle joint driving motors is JaMass is ma，da,1Indicates the distance between the first motor shaft of the ankle joint and the rotating shaft of the knee joint, da,2Indicates the distance between the second motor shaft of the ankle joint and the rotating shaft of the knee joint, faRepresenting each design constraint; by moment of inertia CaMinimum as optimization target of ankle joint drive motor size layout and considering constraint condition faSo that the rotational axis of the first motor of the ankle joint coincides with the rotational axis of the degree of freedom of the knee joint, i.e. da,10, and a distance da,2The smaller the size, the better the optimization objective is met;
(3.3) designing the size layout of the knee joint driving motor: the optimal design problem of the size layout of the knee joint driving motor is as follows:
s.t.fk(dk)<0
wherein, CkRepresenting the moment of inertia of the knee-joint drive motor about the axis of rotation of the hip-joint third motor, JkM represents the moment of inertia of the knee joint drive motorkRepresents the knee joint drive motor mass, dkRepresents the distance between the knee joint drive motor shaft and the hip joint third motor rotating shaft, fkRepresenting each design constraint; by moment of inertia CkMinimum as optimization target and considering constraint condition fkDistance dkThe smaller the optimization objective is.
2. The layout and design method for energy-efficient lightweight leg-foot structure of biped robot according to claim 1, wherein the hip joint rolling degree of freedom drive motor is laid out as a first motor, and the hip joint yaw degree of freedom drive motor is laid out as a second motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010842738.8A CN111731407B (en) | 2020-08-20 | 2020-08-20 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010842738.8A CN111731407B (en) | 2020-08-20 | 2020-08-20 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111731407A CN111731407A (en) | 2020-10-02 |
| CN111731407B true CN111731407B (en) | 2020-12-01 |
Family
ID=72658621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010842738.8A Active CN111731407B (en) | 2020-08-20 | 2020-08-20 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111731407B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660265A (en) * | 2020-12-31 | 2021-04-16 | 北京理工大学 | Biped robot leg structure based on five connecting rods |
| CN112722113B (en) * | 2021-03-02 | 2022-02-22 | 之江实验室 | Electro-hydraulic hybrid biped robot driving system |
| CN113569359B (en) * | 2021-08-03 | 2022-08-23 | 之江实验室 | Biped robot structure topology optimization method based on inertial release method |
| CN116118894B (en) * | 2021-11-15 | 2024-06-07 | 腾讯科技（深圳）有限公司 | Hip joint assembly and robot |
| CN114161472B (en) * | 2021-11-17 | 2024-02-13 | 深圳市优必选科技股份有限公司 | Hip waist joint structure and humanoid robot |
| CN114435505B (en) * | 2021-12-21 | 2023-05-02 | 之江实验室 | Robot flexible foot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5311109A (en) * | 1992-03-31 | 1994-05-10 | Honda Giken Kogyo Kabushiki Kaisha | Locomotion control system for legged mobile robot |
| CN106741277B (en) * | 2015-11-20 | 2020-10-30 | 沈阳新松机器人自动化股份有限公司 | Hybrid mechanical leg mechanism |
| CN106005092B (en) * | 2016-07-14 | 2018-04-10 | 浙江大学 | The apery Soccer robot leg mechanism of connection in series-parallel mixing |
| CN111017064A (en) * | 2020-01-21 | 2020-04-17 | 福州大学 | Motor-driven double-foot lower limb walking structure and working method thereof |
-
2020
- 2020-08-20 CN CN202010842738.8A patent/CN111731407B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111731407A (en) | 2020-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111731407B (en) | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot | |
| CN106005092B (en) | The apery Soccer robot leg mechanism of connection in series-parallel mixing | |
| CN110405763B (en) | Planning method for multi-joint cooperative outbreak jump of humanoid robot | |
| US7386364B2 (en) | Operation control device for leg-type mobile robot and operation control method, and robot device | |
| CN108710298A (en) | Low energy consumption posture analysis method based on sufficient formula bio-robot under quiet vertical state | |
| CN112278106B (en) | Wheel-foot composite walking mechanism | |
| Hirose et al. | Coupled and decoupled actuation of robotic mechanisms | |
| CN114442649B (en) | Biped robot hybrid dynamics modeling and motion planning method | |
| CN108909872A (en) | The imitative spider robot of six foot of one kind and its gait planning method | |
| CN105388755B (en) | A kind of anthropomorphic robot is led leg the efficiency optimal control method taken a step | |
| CN111216823A (en) | Modular foot type single leg and cycloid planning method based on low speed reduction ratio motor technology | |
| CN113296524B (en) | Thrust vector distribution optimization method for underwater bionic spherical/hemispherical robot | |
| Sun et al. | Design and simulation analysis of hexapod bionic spider robot | |
| CN206885201U (en) | Electronic Hexapod Robot is merged in trick | |
| CN102799184A (en) | Stability control method for rbiomimetic obosaur crawling | |
| CN107128122A (en) | A kind of multi-pose caster Bionic desert passing walking wheel | |
| CN110562357A (en) | Design optimization method for double-steering mechanism of gardening tractor | |
| CN114506400B (en) | Bionic foot type robot based on centralized driving four-degree-of-freedom leg structure | |
| CN218839616U (en) | Wetland exploration bionic red-crowned crane | |
| Tang et al. | A 2 degrees of freedom united propulsive mechanism for amphibious function inspired by frog's hindlimb | |
| Huang et al. | Modeling and implementation of tacking for wing sail land-yacht | |
| CN100450857C (en) | Decoupling legs mechanism for apery robot | |
| CN104765372B (en) | A kind of multi-foot robot keeps the gait planning method of linear translation | |
| Zhang et al. | Several insights into omnidirectional static walking of a quadruped robot on a slope | |
| CN215361599U (en) | Adjustable driving mechanism of tree climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |