CN113511283B - Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure - Google Patents
Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure Download PDFInfo
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- CN113511283B CN113511283B CN202110796651.6A CN202110796651A CN113511283B CN 113511283 B CN113511283 B CN 113511283B CN 202110796651 A CN202110796651 A CN 202110796651A CN 113511283 B CN113511283 B CN 113511283B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses a leg structure adopting a multi-rod mechanism, which comprises a thigh, a thigh oscillating bar, a shank oscillating bar and a shank; the quadruped robot with the leg structure adopting the multi-rod mechanism comprises the leg structure adopting the multi-rod mechanism, a trunk, a controller and a driver. According to the invention, the transmission is realized by adopting a multi-rod mechanism consisting of the thigh, the shank, the thigh rocker and the shank rocker, the axial size of the output shaft of the motor of the whole transmission mechanism is not required to be larger, and the effective transmission effect can be ensured, and the multi-rod transmission mechanism can enable the structure of the whole quadruped robot to be more compact; compared with a chain transmission mode, the roller disclosed by the invention is always attached to two side surfaces of the roller path and rolls back and forth in the roller path, the instantaneous transmission ratio is accurate, no impact or vibration exists, and the stable operation of the quadruped robot is facilitated.
Description
Technical Field
The invention relates to a leg structure adopting a multi-rod mechanism and a quadruped robot constructed by the leg structure, and belongs to the field of quadruped robots.
Background
The wheel type robot has insufficient adaptability to rough road surfaces and soft ground surfaces, and the foot type robot has strong adaptability to rough road surfaces. The quadruped robot is more stable than the biped robot, and the quadruped robot has a simpler structure than the hexapod robot, so that the quadruped robot has been a research subject of comparing fire and heat in recent years. By virtue of the excellent performance, the quadruped robot can be used as a transportation tool for field operation, a detection tool and a service robot in a dangerous environment, so that the quadruped robot has a wide application scene. However, most of the four-legged robots around the world are still in the laboratory stage, and many robots are difficult to adapt to complex field environments due to technical problems. Considering the huge demand of the market on the quadruped robot, the problem that the quadruped robot can walk more stably on a complex terrain becomes urgent to solve.
The quadruped robot can have a variety of driving manners, wherein electric driving is a driving manner widely selected in the field of quadruped robots. If with driving motor direct mount on the knee joint, can increase the inertia of shank structure, be unfavorable for four-footed robot's stability. Furthermore, the quadruped robot drives the thigh and the shank to move through a transmission mechanism, and among a plurality of transmission modes, people most often adopt two transmission modes, namely belt transmission and chain transmission. Wherein belt drive has impact resistance and vibration load, operates steadily, advantages such as small in noise, but if the moment that needs the transmission is great, then need increase the width of belt and band pulley, can make drive mechanism great at the axial dimension of motor output shaft like this, can increase the volume of four-footed robot. The chain transmission has the characteristics of high bearing capacity, strong adaptability to severe working environments, high efficiency and the like, each chain link in the chain is intermittently meshed with the chain wheel, and a single chain link can generate certain impact and vibration in the process of being meshed with or separated from the chain wheel, so that the noise is high during working, and the instantaneous transmission ratio of the chain transmission is inaccurate.
Disclosure of Invention
The invention provides a leg structure adopting a multi-rod mechanism, which constructs the leg mechanism through the multi-rod mechanism, provides a new mode for the motion of the foot end of a robot, provides a quadruped robot constructed by the leg structure adopting the multi-rod mechanism, and can be used for realizing the asynchronous walking of the quadruped robot.
The technical scheme of the invention is as follows: a leg structure adopting a multi-rod mechanism comprises a thigh, a thigh swing rod 11, a shank swing rod 13 and a shank 16; wherein, the thigh is hinged with the shank 16, the rotation of the thigh swing rod 11 drives the thigh to rotate, and the rotation of the shank swing rod 13 drives the shank 16 to rotate.
A thigh oscillating bar 11 connected with the driving motor is driven to rotate through an output shaft I9 of the driving motor, the thigh oscillating bar 11 rotates to drive a roller I10 to roll in a roller path m on the thigh oscillating bar 11, and therefore a thigh connected with the roller I10 is driven to rotate; the output shaft II 8 of the driving motor drives the shank swing rod 13 connected with the output shaft II to rotate, and the shank swing rod 13 rotates to drive the roller II 15 to roll in the roller path n on the shank swing rod 13, so that the shank 16 connected with the roller II 15 is driven to rotate; the linkage of thighs and calves 16 is realized by controlling the rotating speed and the rotating angle of the output shaft I9 of the driving motor and the output shaft II 8 of the driving motor, so that the foot end track is obtained; wherein, the output shaft I9 of the driving motor is coaxial with the thigh rotating center.
The thigh is V-shaped and is divided into a thigh section A and a thigh section B, and a hinge hole c is formed by taking the vertex formed by the central line of the thigh section A and the central line of the thigh section B as the center of a circle; a roller mounting hole a with threads and a positioning hole b are formed in the central line of the thigh section A from the free end to the included angle direction, a roller I10 is mounted in the roller mounting hole a through threaded connection, and the positioning hole b is used for determining the initial position of the thigh relative to the trunk 3 and fixing the thigh and the trunk 3; and a hinge hole e and a positioning hole d are formed in the center line of the thigh section B from the free end to the included angle direction, the positioning hole d is used for determining the initial position of the shank 16 relative to the thigh and fixing the thigh and the shank, and the hinge hole e is used for hinging the shank 16 on the thigh.
The lower leg 16 is V-shaped and is divided into a lower leg section C and a lower leg section D, and a hinge hole h is formed by taking the vertex formed by the center line of the lower leg section C and the center line of the lower leg section D as the center of a circle and is used for hinging the lower leg 16 on a hinge hole e of the thigh; the shank section C is provided with a roller mounting hole f with threads and a positioning hole g from the free end to the included angle direction, the roller II 15 is installed in the roller mounting hole f through threaded connection, and the positioning hole g is used for determining the initial position of the shank 16 relative to the thigh and fixing the thigh and the shank.
A quadruped robot with a leg structure adopting a multi-rod mechanism comprises the leg structure adopting the multi-rod mechanism, a trunk 3, a controller 1 and a driver 2;
the four leg structures are respectively a left front leg 7, a right front leg 6, a left rear leg 5 and a right rear leg 4, and the structures of the two left legs and the structures of the two right legs are mirror images about the middle vertical plane of the trunk; the left front leg 7 and the left rear leg 5 are identical in structure, the right front leg 6 and the right rear leg 4 are identical in structure, and the front thigh 12 and the rear thigh 17 are different only in that: the included angle of the front thigh 12 is an acute angle, and the included angle of the rear thigh 17 is an obtuse angle; wherein, the thigh of the left front leg 7 and the right front leg 6 is a front thigh 12, and the thigh of the left rear leg 5 and the right rear leg 4 is a rear thigh 17;
the controller 1 and the driver 2 are installed on the trunk 3, and the driver 2 drives the driving motor to rotate correspondingly after receiving the signal of the controller 1, so as to drive the corresponding driving motor output shaft to rotate.
The left front leg 7 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole i on the trunk outer side plate 14 arranged on the left side of the trunk 3, and the right front leg 6 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole i on the trunk outer side plate 14 arranged on the right side of the trunk 3; the left rear leg 5 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole l on the trunk outer side plate 14 arranged on the left side of the trunk 3, and the right rear leg 4 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole l on the trunk outer side plate 14 arranged on the right side of the trunk.
The invention has the beneficial effects that: the invention adopts the multi-rod mechanism transmission consisting of the thigh, the shank, the thigh rocker and the shank rocker, the axial size of the whole transmission mechanism at the output shaft of the motor does not need to be larger, and the effective transmission effect can be ensured, and the multi-rod transmission mechanism can enable the structure of the whole quadruped robot to be more compact; compared with a chain transmission mode, the roller disclosed by the invention is always attached to two side surfaces of the roller path and rolls back and forth in the roller path, so that the instantaneous transmission ratio is accurate, impact and vibration do not exist, and the smooth operation of the quadruped robot is facilitated. In the whole structure, the thigh swing rod and the shank swing rod are directly driven by the motor, the relationship between the corner of the thigh swing rod and the corner of the thigh can be easily solved according to the triangle theorem, the relationship between the corner of the shank swing rod and the corner of the shank can be easily solved, and the relationship between the foot end track and the corners of the two motor output shafts can be easily solved after the thigh corner and the shank corner are determined. Therefore, if the rotation angle of the driving motor is known, a positive kinematic relation can be easily established to find the foot end trajectory. Similarly, if the foot end trajectory is known, it is easy to establish an inverse kinematic relation to determine the rotation angle of the driving motor. After the foot end track is planned, the motor rotation angle calculated according to the inverse kinematics relational expression is input into the controller, and then the preset foot end track can be easily realized. In addition, the multi-rod mechanism has low requirements on machining and mounting precision, and can reduce machining and manufacturing cost.
Drawings
FIG. 1 is a schematic view of the quadruped robot structure of the present invention;
FIG. 2 is a schematic view of the front thigh;
FIG. 3 is a schematic view of the rear thigh;
FIG. 4 is a schematic view of a lower leg;
FIG. 5 is a schematic view of a thigh swing link;
FIG. 6 is a schematic view of a calf swing link;
FIG. 7 is a schematic view of the outer torso panel;
FIG. 8 is a schematic view of the overall structure of the right front leg;
FIG. 9 is a schematic view of the right front leg configuration in an initial position;
FIG. 10 is a schematic view of the structure of the right front leg in motion;
FIG. 11 is a schematic view of the overall structure of the right rear leg;
FIG. 12 is a schematic view of the right rear leg in an initial position;
FIG. 13 is a schematic view of the structure of the right rear leg in motion;
the reference numbers in the figures are: 1-a controller; 2-a driver; 3-a body; 4-right rear leg; 5-left rear leg; 6-right front leg; 7-left front leg; 8-driving a motor output shaft II; 9-driving a motor output shaft I; 10-roller I; 11-thigh oscillating bar; 12-front thigh; 13-shank oscillating bar; 14-a body outer panel; 15 rollers II; 16-the lower leg; 17-rear thigh; a-thigh segment A; b-thigh segment B; c-calf segment C; d-the calf segment D; a-roller mounting hole a; b-a positioning hole b; c-hinge hole c; d-positioning hole d; e-hinge hole e; f-roller mounting hole f; g-positioning hole g; h-hinge hole h; i-hinge hole i; j-locating hole j; k-positioning hole k; l-hinge hole l.
Detailed Description
Example 1: as shown in fig. 2-13, a leg structure using a multi-bar mechanism comprises a thigh, a thigh swing link 11, a shank swing link 13, and a shank 16; wherein, the thigh is hinged with the shank 16, the rotation of the thigh swing rod 11 drives the thigh to rotate, and the rotation of the shank swing rod 13 drives the shank 16 to rotate. The swing rods are provided with roller paths, and rollers respectively arranged on the thighs and the shanks can move in the roller paths in a cam track manner, so that the swing rods and the legs are linked. The mode overcomes the defects of chain transmission and belt transmission in the aspects of volume, transmission stability and the like. The leg structures of the invention have large motion space, are easy to realize various ideal foot end tracks and gaits, have simple structure and light weight, and can realize stable operation on rugged road surfaces.
Furthermore, a thigh oscillating bar 11 connected with the driving motor is driven to rotate through an output shaft I9 of the driving motor, and the thigh oscillating bar 11 rotates to drive the roller I10 to roll in a roller path m on the thigh oscillating bar 11, so that a thigh connected with the roller I10 is driven to rotate; the output shaft II 8 of the driving motor drives the shank swing rod 13 connected with the output shaft II to rotate, and the shank swing rod 13 rotates to drive the roller II 15 to roll in the roller path n on the shank swing rod 13, so that the shank 16 connected with the roller II 15 is driven to rotate; the linkage of thighs and calves 16 is realized by controlling the rotating speed and the rotating angle of the output shaft I9 of the driving motor and the output shaft II 8 of the driving motor, so that the foot end track is obtained; wherein, the output shaft I9 of the driving motor is coaxial with the thigh rotating center. The thigh swing rod 11 and the driving motor output shaft I9 can be connected together through keys, and the shank swing rod 13 and the driving motor output shaft II 8 can be connected together through keys.
Furthermore, the thighs can be arranged to be V-shaped and divided into a thigh section A and a thigh section B, and a hinge hole c is formed by taking the vertex formed by the center line of the thigh section A and the center line of the thigh section B as the center of a circle and is used for hinging the thighs to the outer side plate 14 of the trunk of the quadruped robot to form a hip joint of the robot; a roller mounting hole a with threads and a positioning hole b are formed in the central line of the thigh section A from the free end to the included angle direction, a roller I10 is mounted in the roller mounting hole a through threaded connection, and the positioning hole b is used for determining the initial position of the thigh relative to the trunk 3 and fixing the thigh and the trunk 3; and a hinge hole e and a positioning hole d are formed in the center line of the thigh section B from the free end to the included angle direction, the positioning hole d is used for determining the initial position of the shank 16 relative to the thigh and fixing the thigh and the shank, and the hinge hole e is used for hinging the shank 16 on the thigh to form the knee joint of the robot. Roller I10 is shown in non-connecting relation to torso outer panel 14.
Further, the lower leg 16 can be arranged to be V-shaped and divided into a lower leg segment C and a lower leg segment D, and a hinge hole h is formed by taking a vertex formed by an angle between a center line of the lower leg segment C and a center line of the lower leg segment D as a circle center and is used for hinging the lower leg 16 on a hinge hole e of the thigh; the shank section C is provided with a roller mounting hole f with threads and a positioning hole g from the free end to the included angle direction, the roller II 15 is installed in the roller mounting hole f through threaded connection, and the positioning hole g is used for determining the initial position of the shank 16 relative to the thigh and fixing the thigh and the shank. The shank swing rod 13 is not connected with the front thigh 12 and the rear thigh 17, and the roller II 15 is not connected with the front thigh 12 and the rear thigh 17.
When the quadruped robot is in a non-working state, the positioning pins simultaneously pass through the positioning holes b on the front thigh and the positioning holes j on the trunk outer side plate 14, so that the positions of the front thigh 12 and the trunk 3 can be fixed. The positioning pins are simultaneously inserted through the positioning holes b on the rear thighs 17 and the positioning holes k on the trunk outer side plate 14, so that the positions of the rear thighs and the trunk 3 can be fixed. The positioning pin penetrates through the positioning hole d and the positioning hole g at the same time, so that the relative position of the thigh and the shank 16 can be fixed. The quadruped robot can stand stably in a non-working state.
As shown in fig. 1 to 13, a quadruped robot with a leg structure using a multi-bar mechanism comprises the leg structure using the multi-bar mechanism, and further comprises a trunk 3, a controller 1, and an actuator 2; the four leg structures are respectively a left front leg 7, a right front leg 6, a left rear leg 5 and a right rear leg 4, and the structures of the two left legs and the structures of the two right legs are mirror images about the middle vertical plane of the trunk; the left front leg 7 and the left rear leg 5 are identical in structure, the right front leg 6 and the right rear leg 4 are identical in structure, and the front thigh 12 and the rear thigh 17 are different only in that: the included angle of the front thigh 12 is an acute angle, and the included angle of the rear thigh 17 is an obtuse angle; wherein, the thigh of the left front leg 7 and the right front leg 6 is a front thigh 12, and the thigh of the left rear leg 5 and the right rear leg 4 is a rear thigh 17; controller 1 and driver 2 pass through the bolt mounting on truck 3, and driver 2 receives and drives driving motor and make corresponding rotation after controller 1's signal, and then drives the rotation of corresponding drive output shaft.
In the application, an output shaft I9 of a driving motor is coaxial with a thigh rotating center, namely a shank motor shaft is coaxial with the thigh rotating center, the included angle of a front thigh 12 is further designed to be an acute angle, and the included angle of a rear thigh 17 is further designed to be an obtuse angle, so that the thigh driving motor can be intensively arranged between a front hip joint and a rear hip joint based on the design; the overturning moment brought to the quadruped robot by the weight of the motor can be reduced through the whole design, and the stability of the quadruped robot is improved; meanwhile, the defects that the force transmitted is small and not strong enough due to the fact that the length of a shank swing rod needs to be increased and the like under a thigh direct-drive mode can be avoided, and the problem that the stability of the robot is not enough due to the fact that knee joint loads are too large due to the fact that the shanks are directly driven can also be avoided.
Further, the left front leg 7 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole i on the trunk outer side plate 14 arranged at the left side of the trunk 3, and the right front leg 6 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole i on the trunk outer side plate 14 arranged at the right side of the trunk 3; the left rear leg 5 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole l on the trunk outer side plate 14 arranged on the left side of the trunk 3, and the right rear leg 4 is hinged on the trunk 3 through a hinge hole c on the thigh and a hinge hole l on the trunk outer side plate 14 arranged on the right side of the trunk. The torso outer panel 14 may be mounted to the torso 3 by bolts.
Furthermore, grooves for reducing weight can be arranged on the trunk outer side plate 14, the thighs and the shanks 16; the thigh swing rod 11 and the shank swing rod 13 adopt a ladder structure, and the layout of parts in the whole structure can be further facilitated.
In the invention, the output shaft I9 of the driving motor directly drives the thigh oscillating bar 11 to rotate, and after the thigh oscillating bar 11 rotates, the roller I10 arranged on the thigh can roll in the roller path of the thigh oscillating bar 11, thereby driving the thigh to rotate. The output shaft II 8 of the driving motor directly drives the shank swing rod 13 to rotate, and after the shank swing rod 13 rotates, the roller II 15 arranged on the shank can roll in the roller path of the shank swing rod 13, so that the shank 16 is driven to rotate. The linkage of the large leg and the small leg can be realized by controlling the rotating speed and the rotating angle of the output shaft I9 of the driving motor and the output shaft II 8 of the driving motor, and the required foot end track can be easily obtained. The cooperative rotation of the thigh and the calf 16 realizes the single-leg movement of the quadruped robot. After the ideal motion track of a single leg is realized, the controller 1 sets the phase difference between the legs, so that the four-legged robot can walk in an asynchronous state, such as diagonal gait, jumping gait, sprint gait and the like.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (5)
1. The utility model provides an adopt shank structure of multi-rod mechanism which characterized in that: comprises thighs, thigh swing rods (11), crus swing rods (13) and crus (16); wherein, the thigh is hinged with the shank (16), the rotation of the thigh swing rod (11) drives the thigh to rotate, and the rotation of the shank swing rod (13) drives the shank (16) to rotate;
a thigh swing rod (11) connected with the drive motor is driven to rotate through an output shaft I (9) of the drive motor, the thigh swing rod (11) rotates to drive a roller I (10) to roll in a roller path m on the thigh swing rod (11), and therefore a thigh connected with the roller I (10) is driven to rotate; the driving motor output shaft II (8) drives the lower leg swing rod (13) connected with the driving motor output shaft II to rotate, the lower leg swing rod (13) rotates to drive the roller II (15) to roll in the roller path n on the lower leg swing rod (13), and therefore the lower leg (16) connected with the roller II (15) is driven to rotate; the linkage of thighs and calves (16) is realized by controlling the rotating speed and the rotating angle of an output shaft I (9) of a driving motor and an output shaft II (8) of the driving motor, so that a foot end track is obtained; wherein, the output shaft II (8) of the driving motor is coaxial with the thigh rotation center.
2. The leg structure using the multi-bar mechanism according to claim 1, wherein: the thigh is V-shaped and is divided into a thigh section A and a thigh section B, and a hinge hole c is formed by taking the vertex formed by the central line of the thigh section A and the central line of the thigh section B as the center of a circle; a roller mounting hole a with threads and a positioning hole b are formed in the central line of the thigh section A from the free end to the included angle direction, a roller I (10) is mounted in the roller mounting hole a in a threaded connection mode, and the positioning hole b is used for determining the initial position of a thigh relative to the trunk (3) and fixing the thigh and the trunk (3); and a hinge hole e and a positioning hole d are formed in the center line of the thigh section B from the free end to the included angle direction, the positioning hole d is used for determining the initial position of the shank (16) relative to the thigh and fixing the thigh and the shank, and the hinge hole e is used for hinging the shank (16) on the thigh.
3. The leg structure using the multi-bar mechanism according to claim 1, wherein: the lower leg (16) is V-shaped and is divided into a lower leg section C and a lower leg section D, and a hinge hole h is formed by taking the vertex formed by the center line of the lower leg section C and the center line of the lower leg section D as the center of a circle and is used for hinging the lower leg (16) on a hinge hole e of the thigh; the shank section C is provided with a roller mounting hole f with threads and a positioning hole g from the free end to the included angle direction, a roller II (15) is installed in the roller mounting hole f through threaded connection, and the positioning hole g is used for determining the initial position of a shank (16) relative to a thigh and fixing the thigh and the shank.
4. The utility model provides an adopt four-footed robot of shank structure of multi-rod mechanism which characterized in that: a leg structure using a multi-bar mechanism comprising any one of claims 1-3, further comprising a trunk (3), a controller (1), a driver (2);
the four leg structures are respectively a left front leg (7), a right front leg (6), a left rear leg (5) and a right rear leg (4), and the structures of the two left legs and the structures of the two right legs are in mirror symmetry about the middle vertical plane of the trunk; left front leg (7), left back leg (5) structure are the same, and right front leg (6), right back leg (4) structure are the same, the thigh is the V-arrangement, divide into thigh festival section A and thigh festival section B, and the difference of preceding thigh (12), back thigh (17) only lies in: the included angle between the thigh section A and the thigh section B of the front thigh (12) is an acute angle, and the included angle between the thigh section A and the thigh section B of the rear thigh (17) is an obtuse angle; wherein, the thigh of the left front leg (7) and the right front leg (6) is a front thigh (12), and the thigh of the left rear leg (5) and the right rear leg (4) is a rear thigh (17);
the controller (1) and the driver (2) are installed on the trunk (3), and the driver (2) drives the driving motor to rotate correspondingly after receiving the signal of the controller (1), so as to drive the corresponding driving motor output shaft to rotate.
5. The quadruped robot with a leg structure using a multi-bar mechanism according to claim 4, wherein: the left front leg (7) is hinged on the trunk (3) through a hinge hole c on the thigh and a hinge hole i on a trunk outer side plate (14) arranged on the left side of the trunk (3), and the right front leg (6) is hinged on the trunk (3) through a hinge hole c on the thigh and a hinge hole i on a trunk outer side plate (14) arranged on the right side of the trunk (3); the left rear leg (5) is hinged on the trunk (3) through a hinge hole c on the thigh and a hinge hole l arranged on the trunk outer side plate (14) on the left side of the trunk (3), and the right rear leg (4) is hinged on the trunk (3) through a hinge hole c on the thigh and a hinge hole l arranged on the trunk outer side plate (14) on the right side of the trunk.
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| CN202110796651.6A CN113511283B (en) | 2021-07-14 | 2021-07-14 | Leg structure adopting multi-rod mechanism and quadruped robot constructed by leg structure |
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| US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
| CN102180205A (en) * | 2011-02-11 | 2011-09-14 | 河南科技大学 | Robot with wheel legs |
| KR101479634B1 (en) * | 2013-09-17 | 2015-01-07 | 한국해양과학기술원 | Multi-legged underwater robot for preventing water noise and method the same |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN205327218U (en) * | 2016-01-22 | 2016-06-22 | 南京农业大学 | Two four -bar linkage four -footed robots towards high -speed motion |
| CN105667630A (en) * | 2016-03-24 | 2016-06-15 | 重庆大学 | Robot leg walking mechanism and four-leg robot of robot leg walking mechanism |
| CN206614540U (en) * | 2016-12-13 | 2017-11-07 | 昆明理工大学 | One kind can amplifying type Hexapod Robot trunk mechanism |
| CN106585761A (en) * | 2016-12-23 | 2017-04-26 | 哈尔滨工程大学 | Horse-imitating gait planar connection rod type quadruped walking robot |
| CN206664751U (en) * | 2017-04-19 | 2017-11-24 | 南京农业大学 | A kind of electronic five connecting rods multi-freedom robot towards high-speed motion |
| CN108622228A (en) * | 2018-05-25 | 2018-10-09 | 昆明理工大学 | A kind of quadruped robot with flexible waist |
| CN110217311A (en) * | 2019-05-28 | 2019-09-10 | 广东省智能制造研究所 | A kind of quick quadruped robot based on coaxial parallel-connection mechanism |
| CN110525535A (en) * | 2019-07-25 | 2019-12-03 | 广东省智能制造研究所 | A kind of two-wheel foot mixing self-balance robot |
| CN112141236A (en) * | 2020-09-25 | 2020-12-29 | 昆明理工大学 | Take shock-absorbing function's sufficient formula robot shank system of wheel |
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