CN112590966A - Wheel-foot type omnidirectional four-foot robot with less degrees of freedom - Google Patents
Wheel-foot type omnidirectional four-foot robot with less degrees of freedom Download PDFInfo
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- CN112590966A CN112590966A CN202110032132.2A CN202110032132A CN112590966A CN 112590966 A CN112590966 A CN 112590966A CN 202110032132 A CN202110032132 A CN 202110032132A CN 112590966 A CN112590966 A CN 112590966A
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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
- B62D57/028—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 having wheels and mechanical legs
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Abstract
The invention provides a wheel-foot type omnidirectional quadruped robot with less degrees of freedom, which relates to the field of robots and comprises a rack and four walking units, wherein each walking unit comprises a first driving device, a second driving device, a third driving device, a lower leg part, a upper leg part, an eccentric rotating part, a movable connecting component and a roller; the first driving device is respectively connected with the rack and the upper end of the thigh piece, and the movable connecting assembly is rotatably connected with the thigh piece and is in sliding fit with the shank piece; the second driving device is arranged at the upper end of the thigh piece, and the third driving device is respectively connected with the lower end of the thigh piece and the roller. The moving direction of the quadruped robot is changed through the first driving device, so that the quadruped robot can move towards any direction, and omnidirectional displacement is realized; the leg piece is driven to move in a vertical plane through a second driving device, so that the four-legged robot can walk in a foot type; the third driving device drives the idler wheels to rotate, and the four-legged robot can walk in a wheel mode.
Description
Technical Field
The invention relates to the field of robots, in particular to a wheel-foot type omnidirectional quadruped robot with less degrees of freedom.
Background
The 21 st century is the era of robotics, and quadruped robots like mammals and reptiles have become a hot spot of science and technology in recent years. On unstructured roads, legged robots have a faster speed than wheeled robots, but on flat roads, wheeled robots have a faster speed than legged robots. With the deep development of the technology, the wheel type and the foot type are combined to obtain the maximum adaptability on the ground, so as to better complete the executed task, and the research trend of the quadruped robot is shown.
The existing wheel-foot type quadruped robot has the following defects:
1. the existing wheel-foot type quadruped robot cannot realize the function of omnidirectional displacement;
2. the foot type walking mechanism and the wheel type walking mechanism of the existing wheel-foot type quadruped robot are mutually influenced in the running process;
3. the existing wheel-foot type quadruped robot has a complex structure and is not easy to realize.
Disclosure of Invention
The invention provides a wheel-foot type omnidirectional four-foot robot with less degrees of freedom, which is used for solving the problems that the existing wheel-foot type four-foot robot cannot realize an omnidirectional displacement function, a foot type walking mechanism and a wheel type walking mechanism are mutually influenced in the operation process, and the structure is complex.
The invention provides a wheel-foot type omnidirectional quadruped robot with less degrees of freedom, which comprises:
a frame;
four walking units, four the walking unit one-to-one install in four mounting points of frame, the walking unit includes: the device comprises a first driving device, a second driving device, a third driving device, a shank piece, a thigh piece, an eccentric rotating piece, a movable connecting assembly and a roller; the first driving device is respectively connected with the rack and the upper end of the thigh piece and is suitable for driving the thigh piece to rotate along the axis in the vertical direction; the movable connecting assembly is rotatably connected with the thigh piece and is in sliding fit with the shank piece; the upper end of the lower leg part is rotationally connected with one end of the eccentric rotating part, and the other end of the eccentric rotating part is connected with a rotating shaft of the second driving device; the second driving device is arranged at the upper end of the thigh part and is suitable for driving the shank part to move in a vertical plane through the eccentric rotating part; the third driving device is respectively connected with the lower end of the thigh piece and the roller and is suitable for driving the roller to rotate.
According to the wheel-foot type omnidirectional quadruped robot with less degrees of freedom, the rack is a diamond-shaped plate, and the four mounting points are the four vertexes of the diamond-shaped plate.
According to the wheel-foot type omnidirectional quadruped robot with less degrees of freedom provided by the invention, the first driving device is a yaw motor, a shell of the yaw motor is connected with the top point of the rhombic plate, and a rotating shaft of the yaw motor is vertically arranged and connected with the upper end of the thigh piece; the second driving device is a foot type walking motor, a shell of the foot type walking motor is connected with the upper end of the thigh piece, and a rotating shaft of the foot type walking motor is horizontally arranged and is connected with the other end of the eccentric rotating piece; the third driving device is a roller motor, a shell of the roller motor is connected with the lower end of the thigh piece, and a rotating shaft of the roller motor is horizontally arranged and connected with the roller.
According to the wheel-foot type omnidirectional four-foot robot with less degrees of freedom provided by the invention, the lower leg part, the eccentric rotating part and the roller are all positioned on one side of the upper leg part, and the foot type walking motor and the roller motor are all positioned on the other side of the upper leg part.
According to the wheel-foot type omnidirectional four-foot robot with less degrees of freedom provided by the invention, the rotating shaft of the foot type walking motor is connected with the other end of the eccentric rotating part through the first flange, the upper end of the lower leg part is provided with the second flange, and the second flange is rotatably connected with one end of the eccentric rotating part through the first bearing.
According to the wheel-foot type omnidirectional quadruped robot with less degrees of freedom provided by the invention, the movable connecting assembly comprises a connecting rod and a sliding piece, one end of the connecting rod is rotatably connected with the thigh piece through a second bearing, the other end of the connecting rod is connected with the sliding piece, and the sliding piece is in sliding fit with the shank piece.
According to the wheel-foot type omnidirectional quadruped robot with less degrees of freedom, the sliding piece is a linear bearing, a sliding bearing or a sliding sleeve.
According to the wheel-foot type omnidirectional quadruped robot with less degrees of freedom, the first bearing and the second bearing are both crossed roller bearings.
According to the wheel-foot type omnidirectional four-foot robot with less degrees of freedom provided by the invention, the lower end of the lower leg part is provided with the foot end supporting part.
According to the wheel-foot type omnidirectional four-foot robot with less degrees of freedom provided by the invention, the upper end of the thigh piece is provided with the connecting piece, and the connecting piece is connected with the rotating shaft of the first driving device through a bolt.
The invention provides a wheel-foot type omnidirectional quadruped robot with less degrees of freedom, which changes the advancing direction of the quadruped robot through a first driving device, so that the quadruped robot can advance towards any direction and realize omnidirectional displacement; the leg piece is driven to move in a vertical plane through a second driving device, so that the four-legged robot can walk in a foot type; the third driving device drives the idler wheels to rotate, and the four-legged robot can walk in a wheel mode.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a wheel-foot omnidirectional quadruped robot with less degrees of freedom in one state;
FIG. 2 is a schematic perspective view of the wheel-foot omnidirectional quadruped robot with less degrees of freedom in another state;
FIG. 3 is a schematic view of the front view structure of the wheel-foot omnidirectional quadruped robot with less degrees of freedom provided by the present invention;
FIG. 4 is a schematic side view of the wheel-foot omnidirectional quadruped robot with less degrees of freedom in one state;
fig. 5 is a schematic side view of the wheel-foot omnidirectional quadruped robot with less degrees of freedom in another state.
Reference numerals: 101. a second flange; 102. an eccentric rotating member; 103. a linear bearing; 104. a lower leg member; 105. a foot end support; 106. a roller; 107. a roller motor; 108. a connecting rod; 109. a thigh member; 110. a foot-type walking motor; 111. a first bearing; 112. a yaw motor; 113. a frame; 114. a first flange; 115. a second bearing.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The wheel-foot type omnidirectional quadruped robot with less freedom degrees of the invention is described in the following with reference to fig. 1-5.
Fig. 1 illustrates a perspective view of a wheel-foot omnidirectional quadruped robot with less degrees of freedom in one state, and fig. 2 illustrates a perspective view of a wheel-foot omnidirectional quadruped robot with less degrees of freedom in another state; as shown in fig. 1 and 2, the wheel-foot type omnidirectional quadruped robot with less degrees of freedom includes a frame 113 and four walking units, and the four walking units are installed at four installation points of the frame 113 in a one-to-one correspondence manner. The walking unit comprises a first driving device, a second driving device, a third driving device, a lower leg part 104, a upper leg part 109, an eccentric rotating part 102, a movable connecting component and a roller 106; the first driving device is connected with the frame 113 and the upper end of the thigh piece 109, and the first driving device is suitable for driving the thigh piece 109 to rotate along the axis of the vertical direction. The articulating assembly is pivotally connected to thigh member 109 and is in sliding engagement with lower leg member 104. The upper end of the lower leg part 104 is rotatably connected to one end of the eccentric rotary member 102, and the other end of the eccentric rotary member 102 is connected to the rotary shaft of the second driving device. The second driving device is arranged at the upper end of the thigh part 109, and the second driving device is suitable for driving the shank part 104 to move in a vertical plane through the eccentric rotating part 102 so as to realize the foot type walking of the quadruped robot. The third driving device is respectively connected with the lower end of the thigh piece 109 and the roller 106, and the third driving device is suitable for driving the roller 106 to rotate so as to realize the wheel type walking of the four-legged robot. The invention relates to a wheel-foot type omnidirectional quadruped robot with less degrees of freedom, which changes the advancing direction of the quadruped robot through a first driving device, so that the quadruped robot can advance towards any direction and realize omnidirectional displacement; the leg part 104 is driven by the second driving device to move in a vertical plane, so that the four-legged robot can walk in a foot type; the third driving device drives the roller 106 to rotate, so that the four-legged robot can walk in a wheel type.
According to the embodiment of the present invention, the frame 113 is a diamond plate, and the four mounting points are four vertexes of the diamond plate. When the walking units are arranged at the corresponding installation points, the axial distances of the two adjacent first driving devices are equal. The diamond plate may be made of carbon fiber plate or metal plate, and the frame 113 may be formed by splicing rod members.
Fig. 3 illustrates a schematic front view of a wheel-foot omnidirectional quadruped robot with less degrees of freedom, and as shown in fig. 3, according to the embodiment of the present invention, the first driving device is a yaw motor 112, a housing of the yaw motor 112 is connected to the vertex of the rhomb plate, and a rotating shaft of the yaw motor 112 is vertically arranged and connected to the upper end of the thigh member 109. When the rotating shaft of the yaw motor 112 rotates, the yaw motor 112 drives the thigh piece 109 to rotate along the axis in the vertical direction, and after the thigh piece 109 rotates, the quadruped robot can steer no matter in a wheel type walking mode or in a foot type walking mode, so that the omnidirectional movement function during foot type walking and wheel type walking is realized. The second driving device is a foot type walking motor 110, a housing of the foot type walking motor 110 is connected with the upper end of the thigh piece 109, and a rotating shaft of the foot type walking motor 110 is horizontally arranged and connected with the other end of the eccentric rotating piece 102. By calculating and optimizing the eccentric distance between the eccentric rotating member 102 and the foot type walking motor 110, the axial distance between the connecting rod 108 and the roller 106 and the length of the lower leg piece 104, the foot type walking and the wheel type walking can be switched well, and the roller 106 and the lower leg piece 104 are prevented from being influenced with each other in the operation process. Fig. 4 illustrates a side view structural diagram of the wheel-foot type omnidirectional quadruped robot with less freedom degree in one state, and fig. 5 illustrates a side view structural diagram of the wheel-foot type omnidirectional quadruped robot with less freedom degree in another state; as shown in fig. 4 and 5, the roller 106 is always separated from the ground by a certain height and does not contact with the ground when walking with feet. The third driving device is a roller motor 107, a housing of the roller motor 107 is connected with the lower end of the thigh piece 109, and a rotating shaft of the roller motor 107 is horizontally arranged and connected with the roller 106. The roller motor 107 drives the roller 106 to rotate forward and backward, so that the roller can move forward and backward in a wheeled manner.
It should be noted here that the roller 106 for wheeled walking is a common roller, the roller 106 is driven by a roller motor 107, and compared with a roller with a hub motor, the common roller has the advantages of easy connection and detachment with the motor, simple structure, etc.; compared with Mecanum wheels, the wheel body has the advantages of light weight, simple wheel body machining process, low manufacturing cost, light weight and the like. The roller motor 107 is a dc motor, and a roller with a hub motor can be used instead of the combination of the roller motor 107 and a common roller.
According to the embodiment of the present invention, the rotating shaft of the foot type walking motor 110 is connected to the other end of the eccentric rotating member 102 through the first flange 114, and the rotating shaft of the foot type walking motor 110 is connected to the eccentric rotating member 102 using the first flange 114, which facilitates the disassembly and assembly of the motor. The upper end of the lower leg part 104 is provided with a second flange 101, the second flange 101 is rotatably connected with one end of the eccentric rotating part 102 through a first bearing 111, and the second flange 101 can facilitate the disassembly and assembly of the lower leg part 104.
According to an embodiment of the present invention, the movable connection assembly includes a connecting rod 108 and a sliding member, the sliding member is a linear bearing 103, and the linear bearing 103 is sleeved on the lower leg member 104 and is in sliding fit with the lower leg member 104. The link 108 is pivotally connected at one end to the thigh member 109 via a second bearing 115 and at the other end to the linear bearing 103. The lower leg part 104, the eccentric rotating part 102 and the roller 106 are all positioned at one side of the upper leg part 109, the foot type walking motor 110 and the roller motor 107 are all positioned at the other side of the upper leg part 109, the second flange 101, the eccentric rotating part 102, the linear bearing 103, the lower leg part 104, the foot end supporting part 105, the connecting rod 108, the foot type walking motor 110 and the like form a composite crank-slider mechanism, when the foot walking motor 110 rotates, the foot walking motor 110 drives the lower leg part 104 to move in the vertical plane through the eccentric rotating part 102, the connecting rod 108 rotates around the axis of the second bearing 115, the lower end of the lower leg part 104 makes an elliptical motion in the vertical plane, the lower end of the lower leg piece 104 can swing in the front-back direction and change in height, so that each leg of the four-legged robot can walk in a foot mode only by one foot type walking motor 110, the number of the motors is reduced, and the structure of the four-legged robot is simplified.
It should be noted that the slider is not limited to the linear bearing 103, and a sliding bearing or a sliding sleeve may be used instead to achieve a sliding fit between the slider and the lower leg member 104 during foot walking.
According to an embodiment of the present invention, the first bearing 111 and the second bearing 115 are cross roller bearings, which are special type bearings in which an inner ring is divided and an outer ring is rotated, and are fixed with a cross roller collar after being assembled with rollers and spacers because the inner ring or the outer ring is divided, to prevent separation from each other. The crossed roller bearing has excellent rotation precision, is very simple to operate during installation, and greatly saves installation space and axial positioning error.
According to the embodiment of the invention, the lower end of the shank 104 is provided with the foot end support 105, the foot end support 105 is connected with the lower end of the shank 104 through a screw, and the foot end support 105 can improve the stability of the quadruped robot when walking in a foot type.
According to the embodiment of the present invention, the upper end of the thigh member 109 is provided with a connecting member, and the connecting member is connected with the rotating shaft of the first driving device by a bolt. The connecting member connects the rotating shaft of the first driving device with the upper end of the thigh member 109, so that the thigh member 109 can be conveniently mounted and dismounted.
According to the embodiment of the invention, the wheel-foot type omnidirectional quadruped robot with less degrees of freedom comprises a rack 113 and four walking units, wherein the rack 113 is a diamond-shaped plate, and four vertexes of the diamond-shaped plate are used as mounting points. The walking unit comprises a yaw motor 112, a foot type walking motor 110, a roller motor 107, a lower leg member 104, a upper leg member 109, an eccentric rotating member 102, a movable connecting assembly and a roller 106. The housing of the yaw motor 112 is connected with the vertex of the corresponding rhombus plate, and the rotating shaft of the yaw motor 112 is vertically arranged. Thigh piece 109 is bar platelike structure, and thigh piece 109 sets up vertically, and the upper end of thigh piece 109 is provided with the connecting piece, and the connecting piece passes through the pivot of bolt and yaw motor 112 and is connected. The movable connecting component comprises a connecting rod 108 and a sliding part, the sliding part is a linear bearing 103, and the linear bearing 103 is sleeved on the lower leg part 104 and is in sliding fit with the lower leg part 104. The link 108 is pivotally connected at one end to the thigh member 109 via a second bearing 115 and at the other end to the linear bearing 103. The lower leg part 104 is a tube, a foot end supporting part 105 is arranged at the lower end of the lower leg part 104, a second flange 101 is arranged at the upper end of the lower leg part 104, and the second flange 101 is rotatably connected with one end of the eccentric rotating part 102 through a first bearing 111. The housing of the foot-type walking motor 110 is connected to the upper end of the thigh member 109, the rotating shaft of the foot-type walking motor 110 is horizontally disposed, and the rotating shaft of the foot-type walking motor 110 is connected to the other end of the eccentric rotating member 102 through the first flange 114. The third driving device is a roller motor 107, a housing of the roller motor 107 is connected with the lower end of the thigh piece 109 through a screw, and a rotating shaft of the roller motor 107 is horizontally arranged and connected with the roller 106.
The invention relates to a working mode of a wheel-foot type omnidirectional four-foot robot with less degrees of freedom:
wheel type walking mode: the four foot-type walking motors 110 rotate a certain angle to make the foot end supporting part 105 at the lower end of the lower leg part 104 leave the ground, at this time, the roller 106 lands on the ground, and the wheel-type walking is realized under the driving of the roller motor 107. The forward and backward rotation of the roller motor 107 is realized to realize the forward and backward movement of the wheel type walking; the direction of wheel walking can be adjusted by rotating the yaw motor 112, and the function of omnidirectional movement is realized.
Foot walking mode: the four foot-type walking motors 110 rotate to enable the foot end supporting piece 105 at the lower end of the lower leg piece 104 to contact the ground, at the moment, the roller 106 leaves the ground, and two lower leg pieces 104 on the same diamond diagonal in the four lower leg pieces 104 move in the same posture to realize foot-type walking; the direction of foot walking can be adjusted by the rotation of the yaw motor 112, and the omnidirectional moving function of foot walking is realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A wheel-foot type omnidirectional quadruped robot with less degrees of freedom, which is characterized by comprising:
a frame;
four walking units, four the walking unit one-to-one install in four mounting points of frame, the walking unit includes: the device comprises a first driving device, a second driving device, a third driving device, a shank piece, a thigh piece, an eccentric rotating piece, a movable connecting assembly and a roller; the first driving device is respectively connected with the rack and the upper end of the thigh piece and is suitable for driving the thigh piece to rotate along the axis in the vertical direction; the movable connecting assembly is rotatably connected with the thigh piece and is in sliding fit with the shank piece; the upper end of the lower leg part is rotationally connected with one end of the eccentric rotating part, and the other end of the eccentric rotating part is connected with a rotating shaft of the second driving device; the second driving device is arranged at the upper end of the thigh part and is suitable for driving the shank part to move in a vertical plane through the eccentric rotating part; the third driving device is respectively connected with the lower end of the thigh piece and the roller and is suitable for driving the roller to rotate.
2. The omnidirectional quadripod robot with few degree of freedom and wheel-foot type according to claim 1, wherein the frame is a diamond-shaped plate, and the four mounting points are four vertexes of the diamond-shaped plate.
3. The omnidirectional quadripod robot with few degree of freedom wheel-foot according to claim 2, wherein the first driving device is a yaw motor, a housing of the yaw motor is connected with the vertex of the rhombus plate, and a rotating shaft of the yaw motor is vertically arranged and connected with the upper end of the thigh piece; the second driving device is a foot type walking motor, a shell of the foot type walking motor is connected with the upper end of the thigh piece, and a rotating shaft of the foot type walking motor is horizontally arranged and is connected with the other end of the eccentric rotating piece; the third driving device is a roller motor, a shell of the roller motor is connected with the lower end of the thigh piece, and a rotating shaft of the roller motor is horizontally arranged and connected with the roller.
4. The omnidirectional quadripod robot with few degree of freedom wheel-foot according to claim 3, wherein the lower leg member, the eccentric rotary member and the roller are located on one side of the upper leg member, and the foot walking motor and the roller motor are located on the other side of the upper leg member.
5. The omnidirectional quadripod robot with few degree of freedom wheel-foot according to claim 3, wherein the rotating shaft of the foot-type walking motor is connected to the other end of the eccentric rotating member through a first flange, and the upper end of the lower leg member is provided with a second flange which is rotatably connected to one end of the eccentric rotating member through a first bearing.
6. The omnidirectional quadruped robot with few degree of freedom wheel-foot type according to claim 5, wherein the movable connection assembly comprises a connecting rod and a sliding member, one end of the connecting rod is rotatably connected with the thigh member through a second bearing, the other end of the connecting rod is connected with the sliding member, and the sliding member is in sliding fit with the shank member.
7. The wheel-foot omnidirectional quadruped robot with few degrees of freedom according to claim 6, wherein the sliding member is a linear bearing, a sliding bearing or a sliding sleeve.
8. The wheel-foot omnidirectional quadruped robot with few degrees of freedom according to claim 6, wherein the first bearing and the second bearing are both crossed roller bearings.
9. The wheel-foot omnidirectional quadruped robot with few degrees of freedom according to any one of claims 1 to 8, wherein the lower end of the lower leg piece is provided with a foot end support.
10. The omnidirectional quadripod robot with few degree of freedom wheeled foot according to any one of claims 1 to 8, wherein the upper end of the thigh piece is provided with a connecting piece, and the connecting piece is connected with the rotating shaft of the first driving device through a bolt.
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| CN114802521A (en) * | 2022-04-25 | 2022-07-29 | 清华大学 | Parallel-driven all-elbow type quadruped robot |
| US20220242506A1 (en) * | 2021-02-03 | 2022-08-04 | Hyundai Motor Company | Movable Object |
| CN115416778A (en) * | 2022-08-31 | 2022-12-02 | 清华大学 | Wheel-foot type leg structure and wheel-foot type robot |
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