CN112660263A - Education system based on bionic quadruped robot - Google Patents
Education system based on bionic quadruped robot Download PDFInfo
- Publication number
- CN112660263A CN112660263A CN202011473546.0A CN202011473546A CN112660263A CN 112660263 A CN112660263 A CN 112660263A CN 202011473546 A CN202011473546 A CN 202011473546A CN 112660263 A CN112660263 A CN 112660263A
- Authority
- CN
- China
- Prior art keywords
- steering engine
- robot
- output shaft
- joint steering
- shoulder
- 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.)
- Pending
Links
Images
Abstract
The invention relates to an education system based on a bionic quadruped robot, which comprises a robot trunk main body and 4 leg structures connected with the robot trunk main body; the robot trunk body is provided with a control main board for controlling the motion of the quadruped robot and receiving and processing signals transmitted by the sensors; the front end of the robot trunk body is provided with an ultrasonic ranging sensor, a loudspeaker, a battery power supply and a sound collection sensor are arranged above the robot trunk body, and an RGB indicating lamp module is arranged behind the tail of the robot trunk body. The platform based on the bionic quadruped robot education system has advanced robot technology and bionic appearance, can better stimulate the learning interest and innovation thinking of students, and enables the students to know the professional knowledge related to the robot more deeply. Meanwhile, the quadruped robot has higher ground motion flexibility and environment adaptability, and the requirements on education and demonstration fields are greatly reduced.
Description
Technical Field
The invention relates to the field of robots, in particular to an education system based on a bionic quadruped robot.
Background
Robot education is that through design, equipment, programming, operation robot, arouse student's interest in learning, professor student's professional knowledge, cultivate student's comprehensive ability, has fused numerous advanced technologies such as theory of mechanics, robot technique, hardware circuit, computer programming and artificial intelligence, plays important effect for the cultivation of student's ability, quality.
And traditional educational robot is mostly wheeled moving platform, and structural function is single, the flexibility is low and keep away the barrier ability relatively poor.
Disclosure of Invention
In view of the above, the present invention has been made to provide an educational system based on a biomimetic quadruped robot that overcomes or at least partially solves the above problems.
According to one aspect of the invention, an educational system based on a bionic quadruped robot is provided, which comprises a robot trunk body and 4 leg structures connected with the robot trunk body; the robot trunk body is provided with a control main board for controlling the motion of the quadruped robot and receiving and processing signals transmitted by the sensors; the front end of the robot trunk body is provided with an ultrasonic ranging sensor, a loudspeaker, a battery power supply and a sound collection sensor are arranged above the robot trunk body, and an RGB indicating lamp module is arranged behind the tail of the robot trunk body.
In a possible implementation mode, a steering engine interface is arranged on the control main board.
In one possible embodiment, a plurality of sensor interfaces are provided on the control motherboard.
In a possible implementation mode, leg mechanism includes shoulder structure, crotch joint steering wheel, shoulder joint steering wheel, inboard thigh splint, outside thigh splint, crossbeam, elbow joint steering wheel and shank structure, crotch joint steering wheel and shoulder joint steering wheel are fixed on the shoulder structure, crotch joint steering wheel connects, the trunk main part of robot, the first end of outside thigh splint and the first end of inboard thigh splint are connected to shoulder joint steering wheel, the second end of outside thigh splint and the second end of inboard thigh splint are connected to elbow joint steering wheel, elbow joint steering wheel is fixed on the shank structure.
In a possible implementation mode, the crotch joint steering engine is fixed on the upper side of the shoulder structural part, an output shaft of the crotch joint steering engine is connected with a steering engine output shaft steering wheel, a crotch support auxiliary shaft is arranged on one side, opposite to the output shaft, of the crotch joint steering engine, a rolling bearing is installed on the crotch support auxiliary shaft, and the steering engine output shaft steering wheel and the rolling bearing on the crotch joint steering engine are connected to the robot trunk body.
In a possible implementation mode, a chest bearing side clamping plate is arranged on the robot trunk body and used for connecting a steering engine output shaft steering wheel and a rolling bearing on the crotch joint steering engine.
In a possible implementation manner, the shoulder joint steering engine is fixed on the lower side of the shoulder structural part, an output shaft of the shoulder joint steering engine is connected with a steering engine output shaft steering wheel, a shoulder supporting auxiliary shaft is arranged on one side, opposite to the output shaft, of the shoulder joint steering engine, a rolling bearing is installed on the shoulder supporting auxiliary shaft, and the steering engine output shaft steering wheel and the rolling bearing of the shoulder joint steering engine are respectively connected to the first end of the outer thigh splint and the first end of the inner thigh splint.
In one possible embodiment, the outer thigh splint and the inner thigh splint are connected by a cross member.
In a possible implementation manner, an output shaft of the elbow joint steering engine is connected with a steering engine output shaft steering wheel, an elbow support auxiliary shaft is arranged on one side, opposite to the output shaft, of the elbow joint steering engine, a rolling bearing is installed on the elbow support auxiliary shaft, and the steering engine output shaft steering wheel and the rolling bearing of the elbow joint steering engine are respectively connected to the second end of the outer thigh splint and the second end of the inner thigh splint.
In one possible embodiment, a magnetic proximity sensor is provided on the lower leg structure for collecting magnetic field information around the lower leg structure.
The platform based on the bionic quadruped robot education system has advanced robot technology and bionic appearance, can better stimulate the learning interest and innovation thinking of students, and enables the students to know the professional knowledge related to the robot more deeply. Meanwhile, the quadruped robot has higher ground motion flexibility and environment adaptability, and the requirements on education and demonstration fields are greatly reduced.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an isometric view of a bionic quadruped robot-based educational system provided by an embodiment of the present invention;
FIG. 2 is a right side view of FIG. 1;
FIG. 3 is a schematic view of a leg structure;
FIG. 4 is a front view of a leg structure;
FIG. 5 is a schematic view of a leg structure from another perspective;
FIG. 6 is the view of FIG. 5 with the outer thigh splint omitted;
FIG. 7 is a schematic view of a leg structure from another perspective;
FIG. 8 is the view of FIG. 7 with the medial thigh splint omitted;
FIG. 9 is a block diagram of a system for education based on a bionic quadruped robot;
description of reference numerals:
the robot comprises a 1-ultrasonic ranging sensor, a 2-loudspeaker, a 3-battery power supply, a 4-sound collecting sensor, a 5-sensor interface, a 6-robot trunk main body, a 7-RGB indicating lamp module, an 8-steering engine interface, a 9-magnetic proximity sensor, a 10-control main board, an 11-shoulder structural part, a 12-crotch joint steering engine, a 13-shoulder joint steering engine, a 141-crotch supporting auxiliary shaft, a 142-shoulder supporting auxiliary shaft, a 143-elbow supporting auxiliary shaft, a 15-rolling bearing, a 16-inner thigh clamping plate, a 17-cross beam, an 18-outer thigh clamping plate, a 19-elbow joint steering engine, a 20-shank structural part and a 21-steering engine output shaft steering wheel.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terms "comprises" and "comprising," and any variations thereof, in the present description and claims and drawings are intended to cover a non-exclusive inclusion, such as a list of steps or elements.
The technical solution of the present invention is further described in detail with reference to the accompanying drawings and embodiments.
Referring to fig. 1 to 9, an embodiment of the present invention provides an educational system based on a bionic quadruped robot, including:
a robot trunk body 6 and 4 leg structures connected to the robot trunk body 6.
The robot trunk body 6 is provided with a control main board 10 for controlling the movement of the quadruped robot and receiving and processing signals transmitted by the sensors.
The front end of truck main body 6 of robot is provided with ultrasonic ranging sensor 1, the top of truck main body 6 of robot is provided with speaker 2, battery power supply 3 and sound acquisition sensor 4, and 6 afterbody backs of truck main body of robot are provided with RGB pilot lamp module 7. Wherein, ultrasonic ranging sensor 1 passes through the wire and connects on control mainboard 10, be used for gathering the place ahead distance data of robot and carry out processing programming on control mainboard 10 with data transmission, speaker 2 passes through the wire and connects on control mainboard 10, as the external output device of robot, can be according to the appointed audio information of programming content broadcast, battery power 3 provides the power support for the motion of four-footed robot, sound acquisition sensor 4 passes through the wire and connects on control mainboard 10, be used for gathering the audio information of robot environment and carry out processing programming on transmitting information data to control mainboard 10, RGB pilot lamp module 7 is as the external output device of robot, can show different colour light according to the programming content.
In one example, a steering engine interface 8 is provided on the control main board 10 to connect the crotch joint steering engine 12, the shoulder joint steering engine 13 and the elbow joint steering engine 19 for supplying power and communicating.
In one example, the control main board 10 is provided with a plurality of sensor interfaces 5 for connecting each sensor, supplying power to the sensor and communicating with the sensor.
In one example, the leg mechanism comprises a shoulder structure member 11, a crotch joint steering engine 12, a shoulder joint steering engine 13, an inner thigh splint 16, an outer thigh splint 18, a cross beam 17, an elbow joint steering engine 19 and a lower leg structure member 20, the crotch joint steering engine 12 and the shoulder joint steering engine 13 are fixed on the shoulder structure member 11, the crotch joint steering engine 12 is connected, the robot trunk body 6, the shoulder joint steering engine 13 are connected with a first end of the outer thigh splint 18 and a first end of the inner thigh splint 16, the elbow joint steering engine 19 is connected with a second end of the outer thigh splint 18 and a second end of the inner thigh splint 16, and the elbow joint steering engine 19 is fixed on the lower leg structure member 20.
In one example, the crotch joint steering engine 12 is fixed on the upper side of the shoulder structural part 11 to provide a crotch joint degree of freedom for the robot, an output shaft of the crotch joint steering engine 12 is connected with a steering engine output shaft steering wheel 21, a crotch support auxiliary shaft 141 is arranged on the opposite side of the output shaft on the crotch joint steering engine 12, a rolling bearing 15 is installed on the crotch support auxiliary shaft 141, and the steering engine output shaft steering wheel 21 and the rolling bearing 15 on the crotch joint steering engine 12 are connected to the robot trunk body 6.
In one example, a chest bearing side clamp plate is arranged on the robot trunk body 6 and used for connecting a steering engine output shaft steering wheel 21 on the crotch joint steering engine 12 and a rolling bearing 15.
In one example, the shoulder joint steering engine 13 is fixed on the lower side of the shoulder structural member 11 to provide the freedom degree of the shoulder joint for the robot, an output shaft of the shoulder joint steering engine 13 is connected with a steering engine output shaft steering wheel 21, a shoulder supporting auxiliary shaft 142 is arranged on one side, opposite to the output shaft, of the shoulder joint steering engine 13, a rolling bearing 15 is installed on the shoulder supporting auxiliary shaft 142, and the steering engine output shaft steering wheel 21 and the rolling bearing 15 of the shoulder joint steering engine 13 are respectively connected to the first end of the outer thigh splint 18 and the first end of the inner thigh splint 16.
In one example, the outer thigh splint 18 and the inner thigh splint 16 are connected by a cross member 17 for easy installation and reliable operation.
In one example, an elbow joint steering engine 19 is fixed on a lower leg structural member 20 to provide elbow joint freedom degree for the robot, an output shaft of the elbow joint steering engine 19 is connected with a steering engine output shaft steering wheel 21, an elbow supporting auxiliary shaft 143 is arranged on one side, opposite to the output shaft, of the elbow joint steering engine 19, a rolling bearing 15 is installed on the elbow supporting auxiliary shaft 143, and the steering engine output shaft steering wheel 21 and the rolling bearing 15 of the elbow joint steering engine 19 are respectively connected to the second end of the outer thigh splint 18 and the second end of the inner thigh splint 16.
The lower leg structure 20 acts as an end structure for the robot leg to transmit motion.
In one example, the lower leg structure 20 is provided with a magnetic proximity sensor 9 for collecting information of magnetic field around the lower leg structure 20 and transmitting the information data to the control main board 10 for processing and programming.
The education system based on the bionic quadruped robot carries various external sensor modules such as an ultrasonic distance measuring sensor 1, a loudspeaker 2, a sound collecting sensor 3, an RGB indicating lamp module 7, a magnetic proximity sensor 9 and the like and a built-in six-axis inertia measuring unit. Different sensor modules can be freely installed and matched according to different innovative ideas of students.
The control mainboard 10 is a hardware circuit built based on STM32 chip, can receive and process the information collected by each sensor and control the motion and the gesture of the quadruped robot, and opens abundant sensor interfaces 5 on the control mainboard 10, and the interfaces have consistent models and good interchangeability, so that students can conveniently modify and build the robot innovatively.
The robot control algorithm program is a control algorithm developed based on robot kinematics and dynamics, and the robot is controlled by taking the control main board 10 carried by STM32 as a carrier. Besides, the education system adopts a graphic-based modular programming to achieve the aim of educating students in a more vivid way, different from professional development ways of complex grammar.
In the leg structure, each leg has three degrees of freedom including a crotch joint, a shoulder joint and an elbow joint, the whole machine has twelve degrees of freedom, and each degree of freedom of the joints is driven by a serial port communication steering engine. Each joint steering engine is connected with the control main board 10, and is powered by the battery power supply 3 and executes corresponding programs. All-directional movement and posture change of the four-legged robot foundation can be realized through the matching movement of the joint steering engines, and diversified actions and movement modes can be realized through programming of students.
The leg structure has three degrees of freedom, and a crotch joint steering engine 12 and a shoulder joint steering engine 13 are structurally and innovatively fixed on a shoulder structural part 11 compactly, so that a structure similar to a ball joint is formed, the stability of the structure is enhanced, and the calculation on the kinematics control is facilitated. In addition, in the fixing mode of the steering engine, the auxiliary supporting shaft 14 is formed by creatively using a three-dimensional forming technology, and the auxiliary supporting shaft is matched with the rolling bearing 15 to serve as an auxiliary support of the steering engine, so that the supporting strength of the joint is enhanced, and the service life of the joint is effectively prolonged.
Different from the traditional single wheel type robot education system, the platform based on the bionic quadruped robot education system has advanced robot technology and bionic appearance and posture, can better stimulate the learning interest and innovation thinking of students and enables the students to know the professional knowledge related to the robot more deeply. Meanwhile, the quadruped robot has higher ground motion flexibility and environment adaptability, and the requirements on education and demonstration fields are greatly reduced.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the scope of the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The education system based on the bionic quadruped robot is characterized by comprising a robot trunk body (6) and 4 leg structures connected with the robot trunk body (6);
the robot trunk main body (6) is provided with a control main board (10) for controlling the motion of the quadruped robot and receiving and processing signals transmitted by the sensors;
the front end of truck main part of robot (6) is provided with ultrasonic ranging sensor (1), the top of truck main part of robot (6) is provided with speaker (2), battery power (3) and sound acquisition sensor (4), and truck main part of robot (6) afterbody rear is provided with RGB pilot lamp module (7).
2. The bionic quadruped robot-based education system as claimed in claim 1, wherein the control mainboard (10) is provided with a steering engine interface (8).
3. The bionic quadruped robot-based education system according to claim 1, wherein a plurality of sensor interfaces (5) are provided on the control main board (10).
4. The bionic quadruped robot-based educational system according to claim 1, wherein, the leg mechanism comprises a shoulder structural part (11), a crotch joint steering engine (12), a shoulder joint steering engine (13), an inner thigh splint (16), an outer thigh splint (18), a cross beam (17), an elbow joint steering engine (19) and a shank structural part (20), the crotch joint steering engine (12) and the shoulder joint steering engine (13) are fixed on the shoulder structural part (11), the crotch joint steering gears (12) are connected, the trunk body (6) and the shoulder joint steering gears (13) of the robot are connected with the first end of the outer thigh splint (18) and the first end of the inner thigh splint (16), the elbow joint steering engine (19) is connected with the second end of the outer thigh splint (18) and the second end of the inner thigh splint (16), the elbow joint steering engine (19) is fixed on the lower leg structural part (20).
5. The education system based on the bionic quadruped robot as claimed in claim 4, wherein the crotch joint steering engine (12) is fixed on the upper side of the shoulder structural part (11), the output shaft of the crotch joint steering engine (12) is connected with a steering engine output shaft steering wheel (21), a crotch support auxiliary shaft (141) is arranged on one side of the crotch joint steering engine (12) opposite to the output shaft, a rolling bearing (15) is installed on the crotch support auxiliary shaft (141), and the steering engine output shaft steering wheel (21) and the rolling bearing (15) on the crotch joint steering engine (12) are connected to the robot trunk body (6).
6. The education system based on the bionic quadruped robot as claimed in claim 5, wherein a chest bearing side splint is arranged on the robot trunk body (6) and is used for connecting a steering engine output shaft steering wheel (21) and a rolling bearing (15) on the hip joint steering engine (12).
7. The education system based on the bionic quadruped robot as claimed in claim 4, wherein the shoulder joint steering engine (13) is fixed on the lower side of the shoulder structural part (11), an output shaft of the shoulder joint steering engine (13) is connected with a steering engine output shaft steering wheel (21), a shoulder supporting auxiliary shaft (142) is arranged on one side of the shoulder joint steering engine (13) opposite to the output shaft, a rolling bearing (15) is installed on the shoulder supporting auxiliary shaft (142), and the steering engine output shaft steering wheel (21) and the rolling bearing (15) of the shoulder joint steering engine (13) are respectively connected to the first end of the outer thigh splint (18) and the first end of the inner thigh splint (16).
8. The biomimetic quadruped robot-based educational system according to claim 4, characterized in that the lateral thigh splint (18) and the medial thigh splint (16) are connected by a cross member (17).
9. The bionic quadruped robot-based education system as claimed in claim 4, wherein the output shaft of the elbow joint steering engine (19) is connected with a steering engine output shaft rudder plate (21), one side of the elbow joint steering engine (19) opposite to the output shaft is provided with an elbow supporting auxiliary shaft (143), a rolling bearing (15) is installed on the elbow supporting auxiliary shaft (143), and the steering engine output shaft rudder plate (21) and the rolling bearing (15) of the elbow joint steering engine (19) are respectively connected to the second end of the outer thigh splint (18) and the second end of the inner thigh splint (16).
10. The bionic quadruped robot-based education system as claimed in claim 4, wherein the lower leg structure (20) is provided with a magnetic proximity sensor (9) for collecting information of magnetic field around the lower leg structure (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011473546.0A CN112660263A (en) | 2020-12-15 | 2020-12-15 | Education system based on bionic quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011473546.0A CN112660263A (en) | 2020-12-15 | 2020-12-15 | Education system based on bionic quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112660263A true CN112660263A (en) | 2021-04-16 |
Family
ID=75404423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011473546.0A Pending CN112660263A (en) | 2020-12-15 | 2020-12-15 | Education system based on bionic quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112660263A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348142A (en) * | 2022-02-22 | 2022-04-15 | 湖南工程学院 | Indoor service type intelligent four-foot bionic mechanical dog |
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6583595B1 (en) * | 1999-09-07 | 2003-06-24 | Sony Corporation | Robot and joint device for the same |
| CN201974998U (en) * | 2011-01-07 | 2011-09-14 | 华中科技大学 | Multi-leg educational robot |
| CN205706943U (en) * | 2016-02-17 | 2016-11-23 | 常州恐龙园股份有限公司 | A kind of ten two degrees of freedom quadruped robot mechanisms |
| CN107322600A (en) * | 2017-07-25 | 2017-11-07 | 重庆奥沃斯机器人有限公司 | A kind of programmable education robot system |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN109927808A (en) * | 2019-04-19 | 2019-06-25 | 中国民航大学 | A kind of caterpillar four-footed robot dog of collaboration |
| CN109940636A (en) * | 2019-04-02 | 2019-06-28 | 广州创梦空间人工智能科技有限公司 | A kind of anthropomorphic robot performed for business |
-
2020
- 2020-12-15 CN CN202011473546.0A patent/CN112660263A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6583595B1 (en) * | 1999-09-07 | 2003-06-24 | Sony Corporation | Robot and joint device for the same |
| CN201974998U (en) * | 2011-01-07 | 2011-09-14 | 华中科技大学 | Multi-leg educational robot |
| CN205706943U (en) * | 2016-02-17 | 2016-11-23 | 常州恐龙园股份有限公司 | A kind of ten two degrees of freedom quadruped robot mechanisms |
| CN107322600A (en) * | 2017-07-25 | 2017-11-07 | 重庆奥沃斯机器人有限公司 | A kind of programmable education robot system |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN109940636A (en) * | 2019-04-02 | 2019-06-28 | 广州创梦空间人工智能科技有限公司 | A kind of anthropomorphic robot performed for business |
| CN109927808A (en) * | 2019-04-19 | 2019-06-25 | 中国民航大学 | A kind of caterpillar four-footed robot dog of collaboration |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114348142A (en) * | 2022-02-22 | 2022-04-15 | 湖南工程学院 | Indoor service type intelligent four-foot bionic mechanical dog |
| CN114348142B (en) * | 2022-02-22 | 2023-11-24 | 湖南工程学院 | Indoor service type intelligent four-foot bionic mechanical dog |
| CN115848530A (en) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | Robot foot joint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112660263A (en) | Education system based on bionic quadruped robot | |
| CN201073550Y (en) | Intelligent service robot with rich movement freedom degree | |
| CN201974998U (en) | Multi-leg educational robot | |
| CN105034001B (en) | Biomimetic manipulator synchronous wireless control system and method | |
| CN107053156A (en) | A kind of bionical body-sensing mechanical arm of seven freedom | |
| US20170348858A1 (en) | Multiaxial motion control device and method, in particular control device and method for a robot arm | |
| CN203544189U (en) | Opening type race walking robot | |
| CN109982759B (en) | Human shape, driving unit, power mechanism and human shape system | |
| CN107322600A (en) | A kind of programmable education robot system | |
| CN108081288A (en) | A kind of intelligent robot | |
| CN203753267U (en) | Distributed control intelligent robot snake | |
| CN209015561U (en) | A kind of robot teaching aid | |
| Herbrechtsmeier et al. | Amiro–autonomous mini robot for research and education | |
| CN105904460A (en) | Control system for real-time human-simulated dance robot | |
| CN206578829U (en) | A kind of bionical body-sensing mechanical arm of seven freedom | |
| CN110216689A (en) | A kind of programmable artificial intelligence robot of education | |
| KR20120004956A (en) | Robot, reference voltage generator circuit used in transmission path for robot, and hub having reference voltage generator circuit | |
| CN212241060U (en) | Deformation dancing robot imitating orchid mantis | |
| CN109986538A (en) | A kind of astronaut's spatial manipulation training system | |
| Lu et al. | Design of a Small Quadruped Robot with Parallel Legs | |
| CN217778813U (en) | Small-size mechanical electron dog | |
| CN206200969U (en) | A kind of land and air double-used teaching robot of teenager | |
| CN212445200U (en) | Crawler-type deformation robot with cubic structure | |
| CN113442150B (en) | Humanoid education robot | |
| CN218258446U (en) | Bionic spider |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210416 |