CN113602373B - Jumping robot used in complex terrain environment and test platform thereof - Google Patents
Jumping robot used in complex terrain environment and test platform thereof Download PDFInfo
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- CN113602373B CN113602373B CN202110877682.4A CN202110877682A CN113602373B CN 113602373 B CN113602373 B CN 113602373B CN 202110877682 A CN202110877682 A CN 202110877682A CN 113602373 B CN113602373 B CN 113602373B
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- joint transmission
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
Abstract
The invention discloses a hopping robot in a complex terrain environment and a test platform thereof. The robot comprises a hopping robot part and a test platform part; the hopping robot part is arranged on the test platform part; the test platform part of the invention is provided with a guide rail sliding block mechanism and a side transparent baffle which can move in parallel, and can adapt to tested robots with different widths. The simulated terrain of the test platform part can be changed, including changing the horizontal inclination angle of the ground and the vertical height of the ground, and the simulation of complex terrain can be flexibly realized by matching and combining a plurality of ground plates. The robot can perform continuous lateral jumping on a terrain-variable test platform, and has the advantages of light weight, high stability, simple driving and good mechanism motion imitativeness; the test platform has the functions of providing variable terrain and protection devices for the robot, acquiring data and the like. The platform has the advantages of strong adjustment flexibility, simple and convenient operation and the like.
Description
Technical Field
The invention belongs to the fields of military reconnaissance, interstellar exploration and the like, and relates to a hopping robot and a test platform thereof in a complex terrain environment.
Background
In recent years, with the frequent occurrence of natural disasters and human accidents and the high heat of the bionic robots in the world, more and more bionic robots are used for exploration rescue, military reconnaissance and other living fields, and more bionic jumping robots are widely concerned due to the advantages of strong obstacle crossing capability and low energy consumption.
For the design of the existing small-sized hopping robot, although the 'hopping robot with controllable energy storage size and takeoff angle' invented by application (patent) No. CN202010455041.5 can realize basic links of energy storage-release and the like, the structure is complex, and stable and continuous hopping is difficult to realize. The invention provides a pneumatic muscle driving power arm variable biped jumping robot (CN 201810267653.4) which realizes energy storage and release through a pneumatic and spring mechanism, but has the defects of overlarge body size, incapability of realizing jumping without external assistance and the like.
In view of the problems in the above design, it is necessary to design a robot that is small, simple in structure, and capable of stably and continuously jumping, and it is a main research content of the present invention to research how to ensure stability of jumping and perform effective tests under relatively simple structural conditions and driving conditions.
The invention relates to a small bionic mouse-jumping biped jumping robot used in a complex terrain environment, in particular to a small bionic mouse-jumping biped jumping robot which can be used as a camouflage reconnaissance robot to collect information and the like when an earthquake disaster or a military conflict occurs, and provides reliable first-line information for modern combat commanders. In addition, the robot can be used as a landing robot in the field of interplanetary exploration, can quickly adapt to a microgravity environment by utilizing the characteristics of small size and strong obstacle crossing capability, can realize continuous jumping under complex terrains, and can perform activities such as terrain detection, communication establishment and the like.
Meanwhile, the invention relates to a special test platform for testing the jumping robot, which is used for testing relevant kinematic parameters and dynamic performance of the small jumping robot and completing the periodic test of the jumping experiment of the robot.
Disclosure of Invention
The invention aims to provide a small bionic mouse-jumping biped robot used in a complex terrain environment and a test platform thereof. Therefore, the robot test platform is divided into two parts, namely a jumping robot part and a robot test platform part. The robot can perform continuous lateral jumping on a terrain-variable test platform, and has the advantages of light weight, high stability, simple driving and good mechanism motion imitativeness; the test platform has the functions of providing variable terrain, protecting devices, collecting data and the like for the robot. The platform has the advantages of strong adjustment flexibility, simple and convenient operation and the like.
A hopping robot and a test platform thereof under a complex terrain environment comprise a hopping robot part (1) and a test platform part (2). The hopping robot section (1) comprises: a power device part (1-1), a knee joint transmission part (1-2), a hip joint transmission part (1-3), a leg structure part (1-4) and a trunk structure part (1-5);
the test platform part (2) comprises: the device comprises a base part (2-1), a guide rail sliding block part (2-2), a variable terrain part (2-3), a side baffle part (2-4) and a top fixing part (2-5); a data acquisition section (2-6).
The power device part (1-1) comprises 2 micro motors (1-1-1), a motor upper support (1-1-2), a motor lower support (1-1-3), 2 support fixing plates (1-1-4), 2 motor support positioning pin shafts (1-1-5) and 4 elastic shaft sleeves (1-1-6). The connection relationship of each part of the power device part (1-1) is as follows: 2 micro motors (1-1-1) are arranged in a straight line opposite manner, and the motors are fixed through clamping grooves of an upper motor bracket (1-1-2) and a lower motor bracket (1-1-3); the clamping grooves of the left and right bracket fixing plates (1-1-4) are respectively matched with the upper surface of the upper motor bracket (1-1-2) and the lower surface of the lower motor bracket (1-1-3); the left motor support positioning pin shaft (1-1-5) and the right motor support positioning pin shaft (1-1-5) penetrate through a positioning pin hole of the support fixing plate (1-1-4) and a positioning pin hole of the micro motor (1-1-1); the inner holes of the elastic shaft sleeves (1-1-6) are respectively in interference fit with the positioning pin shafts (1-1-5) of the motor support, and the fixing effect is achieved by utilizing elastic pretightening force.
The knee joint transmission part (1-2) comprises a left leg part and a right leg part, and each part comprises a knee joint transmission cam (1-2-1), a knee joint transmission lever (1-2-2) and a knee joint transmission wire rope (1-2-3). The matching relation of all parts of the knee joint transmission part (1-2) is as follows: the inner hole of the knee joint transmission cam (1-2-1) is directly in interference fit with the output shaft at one side of the reducer of the micro motor (1-1-1); the outer edge of the knee joint transmission cam (1-2-1) and the knee joint transmission lever (1-2-2) form high pair matching; the inner hole of the knee joint transmission lever (1-2-2) is connected and fixed with the positioning pin hole of the left bracket fixing plate (1-1-4) and the right bracket fixing plate (1-2-4) by a knee joint transmission lever positioning shaft (1-2-4) to form clearance fit, and the elastic shaft sleeve (1-2-5) is used for axial positioning; two ends of the knee joint transmission wire rope (1-2-3) are respectively connected with the tail end of the knee joint transmission lever (1-2-2) and the shank connecting rod (1-4-4).
The hip joint transmission part (1-3) comprises a left leg and a right leg, and each part comprises a hip joint transmission cam (1-3-1) and a hip joint transmission lever (1-3-2). The matching relationship of all parts of the hip joint transmission part (1-3) is as follows: the inner hole of the hip joint transmission cam (1-3-1) is directly in interference fit with the output shaft at one side of the reducer of the micro motor (1-1-1); the outer edge of the hip joint transmission cam (1-3-1) is matched with the hip joint transmission lever (1-3-2) in a high pair way; the inner hole of the hip joint transmission lever (1-3-2) is connected and fixed with the positioning pin hole of the left bracket fixing plate (1-1-4) and the right bracket fixing plate (1-2-4) by a knee joint transmission lever positioning shaft (1-2-4) to form clearance fit, and the elastic shaft sleeve (1-2-5) is used for axial positioning. The tail end of the hip joint transmission lever (1-3-2) and the hip joint connecting rod (1-4-1) form a high pair fit.
The leg structure part (1-4) comprises a left leg part and a right leg part, each part comprises 2 hip joint connecting rods (1-4-1), 2 thigh inner side connecting rods (1-4-2), 2 thigh outer side connecting rods (1-4-3), 2 shank connecting rods (1-4-4), 2 foot bottom plates (1-4-5), 2 bottom plate rubber layers (1-4-6), 2 energy storage torsion springs (1-4-7), 4 joint connecting rod shafts (1-4-8) and 16 elastic shaft sleeves (1-4-9) for fixed connection. The matching relationship of all parts of the leg structure parts (1-4) is as follows: the hip joint connecting rod (1-4-1) is respectively connected with one side of the thigh inner side connecting rod (1-4-2) and one side of the thigh outer side connecting rod (1-4-3); the shank connecting rod (1-4-4) is respectively connected with the other sides of the thigh inner side connecting rod (1-4-2) and the thigh outer side connecting rod (1-4-3); the sole plate (1-4-5) is connected with the shank connecting rod (1-4-4) through a joint connecting rod shaft (1-4-8); the soleplate rubber layer (1-4-6) is attached to the lower side plane of the foot soleplate (1-4-5); the energy storage torsion springs (1-4-7) penetrate through the joint connecting rod shafts (1-4-8), and pins are respectively connected with the thigh inner side connecting rods (1-4-2) and the shank connecting rods (1-4-4).
The trunk structure part (1-5) mainly comprises a trunk main body support (1-5-1), main body support rib plates (1-5-2), elastic shaft sleeves (1-5-3), a trunk pin shaft (1-5-4) and a connecting boss (1-5-5). The matching relation of the trunk structure parts (1-5) is as follows: the connecting boss (1-5-5) is in interference fit with the upper bracket (1-1-2) of the motor; the elastic shaft sleeve (1-5-3) and the trunk pin shaft (1-5-4) fix the trunk main body support (1-5-1) and the lower motor support (1-1-3).
The test platform part (2) comprises a base part (2-1), a guide rail sliding block part (2-2), a variable terrain part (2-3), a side baffle part (2-4), a top support part (2-5) and a sensor support part (2-6).
The base part (2-1) comprises 2 base long supports (2-1-1), three base short supports (2-1-2), 4 supporting gaskets (2-1-3) and 4 supporting hoofs (2-1-4). The matching relationship of each part of the base part (2-1) is as follows: the long base bracket (2-1-1) and the short base bracket (2-1-2) are fixed by a standard trapezoidal nut and an L-shaped connecting piece; the supporting pad (2-1-3) is connected with the supporting shoe (2-1-4) by screw thread; the support hoof (2-1-4) is connected with the long bracket (2-1-1) of the base through screw threads.
The guide rail sliding block part (2-2) comprises a guide rail (2-2-1), a sliding block (2-2-2) and a fixing ring (2-2-3). The guide rail sliding block part (2-2) is matched with the guide rail (2-2-1) through screws to be connected to two sides of the base long support (2-1-1); the inner hole of the sliding block (2-2-2) is matched with the flange of the guide rail (2-2-1) in a low pair manner; the fixed rings (2-2-3) are fixed at two ends of the guide rail by using set screws to prevent the slide block (2-2-2) from being separated from the guide rail (2-2-1).
The variable terrain part (2-3) comprises a bottom plate bracket (2-3-1), a bottom plate (2-3-2), a damping hinge (2-3-3), a ground plate (2-3-4) and a film pressure sensor (2-3-5). The variable terrain part (2-3) is matched with each part in such a way that the bottom plate bracket (2-3-1) is fixed to the base part (2-1) through a screw and a trapezoidal nut; the bottom plate (2-3-2) is fixed on the bottom plate bracket (2-3-1) through a screw and a standard trapezoidal nut; the 3 damping hinges (2-3-3) are sequentially connected in a staggered manner to form a hinge group, one end of each damping hinge is fixed on the bottom plate (2-3-2) through a screw, and the other end of each damping hinge is connected with the ground plate (2-3-4) through a screw; the film pressure sensor (2-3-5) is attached to the upper surface of the ground plate (2-3-4).
The side baffle part (2-4) comprises a side transparent baffle (2-4-1) and a baffle bracket (2-4-2). The side baffle part (2-4) has a matching relationship that the side transparent baffle (2-4-1) is fixed with the baffle bracket (2-4-2) through bolts; the bottom surface of the baffle bracket (2-4-2) is connected with the top of the sliding block (2-2-2) through a screw.
The top support part (2-5) comprises an open annular support (2-5-1), a support rod (2-5-2), a support connecting rod (2-5-3) and a battery box support (2-5-4). The matching relationship of each part of the top support part (2-5) is that the open ring support (2-5-1) is connected with the side transparent baffle (2-4-1) through an open slot and fixed by bolts; the support rod (2-5-2) is matched with an inner hole of the open annular support (2-5-1) and fixed by a set screw; the bracket connecting rods (2-5-3) are in clearance fit with the two bracket rods (2-5-2) with openings in the middle of one side; the battery box bracket (2-5-4) is in transition fit with the bracket connecting rod (2-5-3) and is fixed by a set screw.
The sensor support part (2-6) comprises a sensor support base (2-6-1) and a sensor support (2-6-2). The matching relationship of all parts of the sensor support part (2-6) is that the sensor support base (2-6-1) is fixed on the base part (2-1) through a screw and a trapezoidal nut; the sensor bracket (2-6-2) is fixed on the sensor bracket base (2-6-1) through a screw and a trapezoidal nut.
The invention has the advantages that:
1. the invention provides a small bionic mouse-jumping biped robot for complex terrain, which can realize stable buffering and jumping through leg posture adjustment and can play a role in camouflage detection in a field environment.
2. The hopping robot is light in weight, the mass is only less than 100g, a cam-lever mechanism driven by a micro motor is used for providing power, and an energy storage mode of a motor-torsion spring is used for realizing intermittent hopping.
3. The jumping robot disclosed by the invention is flexible in movement, hip joints and knee joints of legs at two sides are respectively controlled by motors at two sides, and the leg postures of the robot can be flexibly adjusted by controlling the rotating speed and the position of the motors, so that stable movement is realized.
4. The test platform part of the invention is provided with a guide rail sliding block mechanism and a side transparent baffle which can move in parallel, and can adapt to tested robots with different widths.
5. The simulated terrain of the test platform part can be changed, including changing the horizontal inclination angle of the ground and the vertical height of the ground, and the complex terrain can be flexibly simulated by matching and combining a plurality of ground boards.
Drawings
FIG. 1 is an external view of a hopping robot and a test platform according to the present invention.
FIG. 2 is a schematic view of the interior of the hopping robot and the test platform of the present invention.
Fig. 3 is a schematic diagram of the overall structure of the hopping robot in the invention.
FIG. 4 is a schematic diagram of a part of a power device of the hopping robot.
FIG. 5 is a schematic view of a micro motor of the power device of the hopping robot.
FIG. 6 is a schematic view of an upper bracket of a motor of the power device of the hopping robot.
Fig. 7 is a schematic view of a lower bracket of a motor of the power device of the hopping robot.
Fig. 8 is a schematic view of a bracket fixing plate of the jumping robot power device.
Fig. 9 is a schematic view of a positioning pin shaft of a motor bracket of the power device of the hopping robot.
Fig. 10 is a schematic view of an elastic shaft sleeve of the power device of the hopping robot.
Fig. 11 is a schematic view of a transmission part of a knee joint of a jumping robot in the invention.
Fig. 12 is a schematic view of a knee joint transmission cam of a knee joint transmission part of the jumping robot.
Fig. 13 is a schematic view of a knee joint transmission lever of a knee joint transmission part of the jumping robot.
Fig. 14 is a schematic diagram of a hip joint transmission part of the hopping robot in the invention.
Fig. 15 is a schematic view of a knee joint transmission cam of a hip joint transmission part of the hopping robot.
Fig. 16 is a schematic view of a hip joint transmission part knee joint transmission lever of the hopping robot.
Fig. 17 is a schematic diagram of a leg structure part of the hopping robot in the invention.
FIG. 18 is a schematic view of a hip joint link of a leg structure part of the hopping robot.
Fig. 19 is a schematic view of an inner thigh link of a leg structure part of the hopping robot.
Fig. 20 is a schematic diagram of an outer thigh link of a leg structure part of the hopping robot.
Fig. 21 is a schematic view of a lower leg link of a leg structure part of the hopping robot in the invention.
Fig. 22 is a schematic view of a part of a leg structure sole plate of the hopping robot in the invention.
Fig. 23 is a schematic diagram of a base plate rubber layer of a leg structure part of the hopping robot in the invention.
Fig. 24 is a schematic diagram of energy storage torsion springs of leg structures of the hopping robot.
Fig. 25 is a schematic diagram of a trunk structure part of the hopping robot in the invention.
FIG. 26 is a schematic view of a portion of the test platform of the present invention in its entirety.
FIG. 27 is a schematic view of a portion of a base of a test platform according to the present invention.
FIG. 28 is a schematic view of a portion of a test platform rail slide of the present invention.
FIG. 29 is a schematic view of a variable topography portion of a test platform according to the present invention.
Figure 30 is a schematic view of a test platform variable terrain partial damping hinge of the present invention.
FIG. 31 is a schematic view of a side dam portion of a test platform according to the present invention.
FIG. 32 is a schematic view of a side dam portion of a dam holder of the test platform of the present invention.
FIG. 33 is a schematic view of a top mount portion of the test platform of the present invention.
FIG. 34 is a schematic view of a partially open circular frame of a top frame of a test platform according to the present invention.
FIG. 35 is a schematic view of a portion of a test platform sensor mount according to the present invention.
In the figure:
1-hopping robot part 2-test platform part
1-1-a power plant section; 1-2-knee joint transmission part; 1-3-a hip joint drive portion; 1-4-a leg moiety; 1-5-torso structure parts; 2-1-a base portion; 2-2-a rail slider portion; 2-3-variable terrain parts; 2-4-side baffle portion; 2-5-a top scaffold moiety; 2-6-a sensor holder portion;
1-1-1 micro motor, 1-1-2 motor upper support, 1-1-3 motor lower support, 1-1-4 support fixing plate, 1-1-5 motor support positioning pin shaft and 1-1-6 elastic shaft sleeve;
1-2-1 knee joint transmission cam, 1-2-2 knee joint transmission lever and 1-2-3 knee joint transmission wire rope;
1-3-1 hip joint transmission cam and 1-3-2 hip joint transmission lever;
1-4-1 hip joint connecting rod, 1-4-2 thigh inner side connecting rod, 1-4-3 thigh outer side connecting rod, 1-4-4 shank connecting rod, 1-4-5 foot bottom plate, 1-4-6 bottom plate rubber layer, 1-4-7 energy storage torsion spring, 1-4-8 joint connecting rod shaft and 1-4-9 elastic shaft sleeve;
1-5-1 trunk body support, 1-5-2 trunk body support rib plates, 1-5-3 elastic shaft sleeves, 1-5-4 trunk pin shafts and 1-5-5 connecting bosses;
2-1-1 base long support, 2-1-2 base short support, 2-1-3 support gasket and 2-1-4 support hoof;
2-2-1 guide rail, 2-2-2 slide block and 2-2-3 fixing ring;
2-3-1 bottom plate bracket, 2-3-2 bottom plates, 2-3-3 damping hinges, 2-3-4 ground plates, 2-3-5 film pressure sensors,
2-4-1 side transparent baffle and 2-4-2 baffle bracket;
2-5-1 opening annular bracket, 2-5-2 bracket rods, 2-5-3 bracket connecting rods and 2-5-4 battery box bracket;
a 2-6-1 sensor support base and a 2-6-2 sensor support.
Detailed Description
The present invention will be described below with reference to the drawings and examples, but the present invention is not limited to the following examples.
Example 1
Referring to fig. 1, 3 and 26, the invention relates to a small bionic mouse-jumping robot with double feet and a test platform under a complex terrain environment. Comprises a hopping robot part (1) and a test platform part (2).
Referring to fig. 2, the hopping robot part (1) can perform a hopping experiment on a 'V' -shaped floor plate (2-3-4) on the test platform part (2).
Referring to fig. 11 and 14, a micro motor (1-1-1) drives a knee joint transmission cam (1-2-1) and a hip joint transmission cam (1-3-1) through double shafts respectively; the knee joint transmission cam (1-2-1) drives the knee joint transmission lever (1-2-2) to move; the knee joint transmission lever (1-2-2) pulls the shank connecting rod (1-4-4) through the knee joint transmission wire rope (1-2-3); meanwhile, the hip joint transmission cam (1-3-1) drives the hip joint transmission lever (1-3-2) to drive the hip joint connecting rod (1-4-1); the two parallel transmission routes jointly control the rotation of the knee joint and the hip joint of the robot, so that the contraction of the shank connecting rod (1-4-4) is realized, and the energy is stored in the energy storage torsion spring (1-4-7). When the knee joint transmission cam (1-2-1) and the hip joint transmission cam (1-3-1) are separated from the knee joint transmission lever (1-2-2) and the hip joint transmission lever (1-3-2) respectively and simultaneously in one rotation period of the micro motor (1-1-1), energy in the energy storage torsion spring (1-4-7) is released instantly, so that the shank connecting rod (1-4-4) is rapidly extended, and the leg jumping motion of the robot is realized. The robot repeats the actions when buffering, and the posture of the jumping leg is adjusted by controlling the rotating speed of the micro motor (1-1-1) and the length adjustment of the knee joint transmission wire rope (1-2-3).
Referring to fig. 28 and 31, the slider (2-2-2) drives the side transparent barrier (2-4-1) fixed thereon to realize the relative movement of the two parallel side barrier parts (2-4), so that the vertical distance between the two side barrier parts (2-4) can be changed.
Referring to fig. 29 and 30, a hinge group consisting of 2 groups of 3 damping hinges (2-3-3) is connected with the ground plates (2-3-4), the posture of the ground plates is changed by external force, the damping hinges (2-3-3) can realize a self-locking function, and the lifting and inclination angle changing functions of a single ground plate (2-3-4) can be realized, so that two ground plates (2-3-4) which are linearly arranged can be combined into a V-shaped inclined surface.
Claims (3)
1. A hopping robot used in a complex terrain environment, characterized in that: comprising a hopping robot part (1), the hopping robot part (1) comprising: a power device part (1-1), a knee joint transmission part (1-2), a hip joint transmission part (1-3), a leg structure part (1-4) and a trunk structure part (1-5); the leg joint power device is characterized in that the lower end of the power device part (1-1) is respectively connected with a knee joint transmission part (1-2) and a hip joint transmission part (1-3) through a micro motor (1-1-1), the knee joint transmission part (1-2) is connected with the knee joint of the leg structure part (1-4) through a knee joint transmission wire rope (1-2-3), the hip joint transmission part (1-3) is connected with the hip joint of the leg structure part (1-4) through a hip joint transmission cam (1-3-1), and the trunk structure part (1-5) is connected with the power device part (1-1) through an elastic shaft sleeve (1-5-3) and a trunk pin shaft (1-5-4);
the knee joint transmission part (1-2) adopts a cam-lever-wire transmission mode and comprises a knee joint transmission cam (1-2-1), a knee joint transmission lever (1-2-2) and a knee joint transmission wire (1-2-3), wherein the knee joint transmission cam (1-2-1) is connected with the front end of the knee joint transmission lever (1-2-2) through a figure outline to form a high pair, and the tail end of the knee joint transmission lever (1-2-2) is connected with the knee joint transmission wire (1-2-3) through a connecting hole.
2. The hopping robot used in the complex terrain environment as claimed in claim 1, wherein the hip joint transmission part (1-3) comprises a hip joint transmission cam (1-3-1) and a hip joint transmission lever (1-3-2), the hip joint transmission cam (1-3-1) forms a high pair connection with the front end of the hip joint transmission lever (1-3-2) through a figure outline, and the tail end outline of the hip joint transmission lever (1-3-2) forms a high pair connection with the hip joint connecting rod (1-4-1).
3. A hopping robot in a complex terrain environment as set forth in claim 1, characterized in that an energy storage torsion spring (1-4-7) is provided between the thigh outer link (1-4-3) and the shank link (1-4-4) of the leg structure part (1-4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110877682.4A CN113602373B (en) | 2021-08-01 | 2021-08-01 | Jumping robot used in complex terrain environment and test platform thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110877682.4A CN113602373B (en) | 2021-08-01 | 2021-08-01 | Jumping robot used in complex terrain environment and test platform thereof |
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| CN113602373B true CN113602373B (en) | 2022-09-09 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3674778B2 (en) * | 2001-09-27 | 2005-07-20 | 本田技研工業株式会社 | Leg joint assist device for legged mobile robot |
| US9004201B2 (en) * | 2012-04-18 | 2015-04-14 | Board Of Trustees Of Michigan State University | Jumping robot |
| CN103569235B (en) * | 2013-11-11 | 2015-09-30 | 哈尔滨工程大学 | Frog hopping robot is imitated in five joints |
| CN107472389B (en) * | 2017-08-24 | 2023-06-16 | 中国科学技术大学 | Bouncing robot capable of actively adjusting posture before landing |
| CN108394484B (en) * | 2018-02-09 | 2020-07-17 | 北京工业大学 | Locust-simulated jumping robot with gliding function |
| CN111152861B (en) * | 2020-01-10 | 2021-03-02 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
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