CN115285252A - Foot type walking robot cross universal joint foot mechanism - Google Patents
Foot type walking robot cross universal joint foot mechanism Download PDFInfo
- Publication number
- CN115285252A CN115285252A CN202211048925.4A CN202211048925A CN115285252A CN 115285252 A CN115285252 A CN 115285252A CN 202211048925 A CN202211048925 A CN 202211048925A CN 115285252 A CN115285252 A CN 115285252A
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- China
- Prior art keywords
- foot
- assembly
- cross
- achilles tendon
- sole
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Classifications
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
- F16F15/085—Use of both rubber and metal springs
Abstract
The invention relates to a cross universal joint foot mechanism of a foot type walking robot, which mainly comprises an achilles tendon upper support, an achilles tendon shock absorber, a cross universal joint assembly, a foot support seat, limiting rubber, a foot connecting disc, a foot sole assembly, a limiting self-lubricating bearing, a foot connecting support assembly and a wrist buffer, wherein the achilles tendon upper support is connected with the foot buffer; the invention integrates the bionics design idea, is divided into four parts of ankle joint, sole, achilles tendon and wrist, and is suitable for foot-type walking robots under complex road conditions. The passing capacity and the service life of the robot are ensured on the principle of simplicity and reliability in design. The achilles tendon absorber, the wrist buffer, the cross-axle joint, the blade type spring steel elastic framework, the hollow sole rubber pad and other structures have better innovativeness, and the functional requirements of foot buffering, swinging, rotating, skid prevention and the like of the foot type walking robot are met.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a cross-shaped universal joint foot mechanism of a foot type walking robot.
Background
For the regions with the topography mainly including mountains and canyons, the traditional wheeled and tracked vehicles cannot meet the requirements for the whole time and the whole region.
The existing foot type walking robot is mostly applied to the road surfaces with poor trafficability such as mountainous regions, gravels, ice and snow, the feet of the existing foot type walking robot are in direct contact with the ground, the existing foot type walking robot is the only contact surface between the existing foot type walking robot and the ground during walking, and the existing foot type walking robot provides the walking power for the existing foot type walking robot through the reaction force to the ground. The phenomenon that the feet slip easily occurs in the walking process of the robot on a complex road surface due to insufficient foot adhesion or poor adaptability, and even the robot is unstable. Therefore, the foot needs to have better environmental adaptability and larger ground adhesion, and the design difficulty is higher.
At present, the feet of the foot type robot mainly comprise flat-bottom or semi-circular-bottom soles, and the foot type robot aims to increase the contact area of the soles and reduce the ground pressure of the feet and is more suitable for flat ground pavements. In mountain pavements such as gravel roads, flat-bottom feet are unstable in contact on gravel pavements due to large foot bottom surface areas, and the trafficability of the robot is influenced.
Disclosure of Invention
The invention provides a cross universal joint foot mechanism of a foot type walking robot, which aims to solve the technical problems that: the use requirements of the foot type walking robot on extreme road conditions such as mountainous regions, ice and snow, swamps and broken stones are met, and the passing capacity of the foot type walking robot is ensured.
In order to solve the technical problems, the invention provides a cross universal joint foot mechanism of a foot type walking robot, which is characterized in that: the device mainly comprises an achilles tendon upper support 1, an achilles tendon shock absorber 3, a cross universal joint assembly 5, a foot support seat 6, limiting rubber 7, a foot connecting disc 8, a foot sole assembly 11, a limiting self-lubricating bearing 14, a foot connecting support assembly 16 and a wrist buffer 17; the upper end of the foot connecting support 16 is connected with the leg through a flange on the wrist buffer 17; one side of the wrist buffer 17 is fixedly connected with the Achilles tendon upper support 1; the lower end of the foot connecting support assembly 16 is connected with the foot supporting seat 6 through a cross universal joint assembly 5 to form a cross universal joint; the upper end of the achilles tendon absorber 3 is hinged with the end part of the achilles tendon upper support 1, and the lower end is hinged with the achilles tendon lower support 27 of the cross universal joint assembly 5 to form a bionic achilles tendon, so that the foot support seat 6 can rotate in a limited angle; spacing rubber 7 vulcanizes in 6 bottoms of foot supporting seat, and foot connection pad 8 rotates with 6 bottoms of foot supporting seat through spacing self-lubricating bearing 14 to be connected, and foot callus on the sole assembly 11 is connected with 8 interference of foot connection pad, and sole callus on the sole assembly 11 can the free rotation.
Has the beneficial effects that: the invention integrates the bionics design idea, is divided into four parts of ankle joint, sole, achilles tendon and wrist, and is suitable for foot-type walking robots under complex road conditions. The passing capacity and the service life of the robot are ensured on the principle of simplicity and reliability in design. The achilles tendon shock absorber, the wrist buffer, the cross axle joint, the blade type spring steel elastic framework, the hollow sole rubber pad and other structures have better innovativeness, and the functional requirements of foot type walking robots on foot buffering, swinging, rotation, skid prevention and the like are met. This structure provides new thinking for the design of robot field foot, has following characteristics to the design of foot formula walking robot foot:
(1) The foot bottom foot pad is of a rubber hollow structure, directly bears ground load, has certain buffering deformation capacity, can better adapt to uneven road surfaces, and has better contact stability; the sole is designed into a step annular pattern, so that the turning resistance of the foot is reduced, the ground attachment capacity is increased, and the structure is simple and reliable and the cost is low; meanwhile, the addition of the anti-skidding cone structure is more beneficial to the increase of the foot adhesion.
(2) The achilles tendon shock absorber has a stroke limiting function and is matched with the cross universal joint, so that the foot assembly is guaranteed to have gradient adaptability of +/-45 degrees in a transverse range, and meanwhile, damping materials are filled in the achilles tendon shock absorber, so that the foot assembly has a shock absorption function;
(3) The torsional spring, the side-sway limiting rubber and the cross universal joint are matched, so that the foot assembly is ensured to have gradient adaptability of +/-35 degrees in the longitudinal range, meanwhile, the landing state of the foot assembly is ensured to be stable, and random swinging of the foot assembly in the longitudinal direction is reduced;
(4) The wear-resistant gasket and the limiting self-lubricating bearing are matched up and down for use, so that the foot bottom foot pad assembly can rotate freely, the locking of the foot assembly during landing or lifting is avoided, and the reliability of the foot assembly is improved;
(5) The wrist bumper incorporates cushioning material to provide cushioning to the foot assembly while providing the necessary support.
Drawings
FIG. 1 is a perspective view of the present invention
FIG. 2 is an exploded view of the cross-joint foot mechanism of the present invention
FIG. 3 is a cross universal joint assembly mechanism diagram of the present invention
FIG. 4 is a view of the sole assembly of the present invention
FIG. 5 is a structural view of the foot connecting support assembly of the present invention
Wherein: 1, an achilles tendon upper support, 2 bolts, nuts, gaskets, 3 achilles tendon vibration absorbers, 4 bolts, nuts, gaskets, 5 cross universal joint assemblies, 6 foot support seats, 7 limiting rubbers, 8 foot connecting discs, 9 gaskets, 10 bolts, 11 foot sole foot pad assemblies, 12 anti-skidding cones, 13 circular gaskets, 14 limiting self-lubricating bearings, 15 wear-resistant gaskets, 16 foot connecting support assemblies, 17 wrist buffers, 18 gaskets and 19 bolts; 20 bolts, 21 bearing covers, 22 self-lubricating bearings II, 23 torsion springs, 24 bearing covers I, 25 self-lubricating bearings I, 26 cross shafts and 27 achilles tendon lower supports; 28 foot elastic frameworks, 29 foot adjusting seats and 30 foot sole foot pads; 31 sole connecting support and 32 side swing limiting rubber.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention is provided.
The invention provides a foot type walking robot cross universal joint foot mechanism which mainly comprises an achilles tendon upper support 1, an achilles tendon shock absorber 3, a cross universal joint assembly 5, a foot support seat 6, limiting rubber 7, a foot connecting disc 8, a gasket 9, a foot sole assembly 11, an anti-skidding cone 12, a limiting self-lubricating bearing 14, a foot connecting support assembly 16 and a wrist buffer 17;
the upper end of the foot connecting support 16 is connected with the leg through a flange on the wrist buffer 17 in a bolt connection mode;
the wrist buffer 17 is fixedly connected with the Achilles tendon upper support 1 through a gasket 18 and a bolt 19;
the lower end of the foot connecting support assembly 16 is connected with the foot supporting seat 6 through a cross universal joint assembly 5 to form a cross universal joint, so that the whole foot can rotate at a certain angle in the transverse direction (the paper surface direction in figure 1) and the longitudinal direction (the direction vertical to the paper surface in figure 1);
the upper end of the achilles tendon absorber 3 is hinged with the end part of the upper achilles tendon support 1, and the lower end of the achilles tendon absorber is hinged with the lower achilles tendon support 27 at one end of the cross universal joint assembly 5 to form a bionic achilles tendon, so that the foot support seat 6 can rotate in a limited angle in the transverse direction and provides damping capacity for the foot support seat;
the limiting rubber 7 is vulcanized at the bottom of the foot supporting seat 6, so that the deformation capacity of the sole assembly 11 is limited, and the possibility that the sole assembly 11 cannot be restored due to large deformation is avoided; foot connection pad 8 rotates with foot supporting seat 6 through spacing self-lubricating bearing 14 to be connected, and wear-resisting gasket 15, foot connection pad 8, spacing self-lubricating bearing 14, circular gasket 13 set gradually and install in foot supporting seat 6 lower bottom, and foot callus on the sole assembly 11 is connected with 8 interference of foot connection pad through anti-skidding awl 12, and wear-resisting gasket 15, spacing self-lubricating bearing 14 have guaranteed that sole callus on the sole assembly 11 can the free rotation.
One end of the anti-slip cone 12 is fixedly connected with the foot pad assembly, and the other end of the anti-slip cone is in contact with the ground, so that the attachment capacity of the foot pad assembly is improved.
The cross universal joint assembly mainly comprises a bearing cover 21, a self-lubricating bearing II 22, a torsion spring 23, a bearing cover I24, a self-lubricating bearing I25, a cross shaft 26 and an achilles tendon lower support 27; a transverse shaft of the cross shaft 26 is firstly placed in a U-shaped seat at the upper part of the foot supporting seat 6, one end of the transverse shaft sequentially penetrates through the torsion spring 23, the self-lubricating bearing II 22 and the bearing cover 21 and is screwed by bolts, the other end of the transverse shaft sequentially penetrates through the torsion spring 23, the self-lubricating bearing II 22 and the achilles tendon lower support 27 and is screwed by bolts, then one end of the torsion spring 23 is inserted into a fixing hole of the cross shaft 26, the other end of the torsion spring is inserted into a positioning hole of the foot supporting seat 6, the torsion spring 23 provides damping force for the longitudinal swing of the foot assembly, and the foot sole can be guaranteed to land horizontally before the foot assembly falls to the ground; the foot connecting support assembly 16 is connected with a longitudinal shaft of a cross shaft 26, and both ends of the longitudinal shaft are sequentially penetrated with a first self-lubricating bearing 25 and a first bearing cover 24 and screwed by bolts.
The sole foot pad assembly mainly comprises foot elastic framework 28, foot adjusting seat 29, sole foot pad 30, put into the mould behind the bottom surface of foot elastic framework 28 of positioning bonding of foot adjusting seat 29 and vulcanize integrated into one piece with sole cushion 30 and become sole foot pad assembly, foot adjusting seat 29, foot elastic framework 28 plays and supports whole sole foot pad and can provide certain deflection as the skeleton of sole foot pad 30, sole foot pad 30 is rubber, directly bears ground load, certain buffering deformability has. The foot elastic framework is a hollow cover body structure with a plurality of grooves uniformly distributed on the circumference.
The foot connecting support assembly 16 mainly comprises a sole connecting support 31 and lateral swing limiting rubber 32; the lateral swing limiting rubber 32 is vulcanized in four grooves on two sides of the sole connecting support 31, so that the angle of the foot assembly in the longitudinal swing is limited, and a certain buffering capacity is provided.
The invention has the following advantages:
(1) The foot bottom foot pad is of a rubber hollow structure, directly bears ground load, has certain buffering deformation capacity, can better adapt to uneven road surfaces, and has better contact stability;
(2) The achilles tendon shock absorber is matched with the cross universal joint to ensure that the foot assembly has a certain swing angle in a transverse range, and damping materials are filled in the achilles tendon shock absorber to ensure that the foot assembly has a shock absorption function;
(3) The torsional spring, the lateral swing limiting rubber and the cross universal joint are matched to ensure that the foot assembly has a certain swing angle in a longitudinal range and the foot assembly is stable in a landing state;
(4) The wear-resistant gasket and the limiting self-lubricating bearing are matched up and down for use, so that the foot bottom foot pad assembly can rotate freely, the locking of the foot assembly during landing or lifting is avoided, and the reliability of the foot assembly is improved;
(5) The wrist bumper is of an existing structure and is internally provided with a cushioning material so that the foot assembly has a cushioning function and can provide necessary supporting force.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a foot formula walking robot cross universal joint foot mechanism which characterized in that: the device mainly comprises an achilles tendon upper support (1), an achilles tendon absorber (3), a cross universal joint assembly (5), a foot support seat (6), limiting rubber (7), a foot connection disc (8), a foot sole assembly (11), a limiting self-lubricating bearing (14), a foot connection support assembly (16) and a wrist buffer (17); the upper end of the foot connecting support (16) is connected with the leg through a flange on the wrist buffer (17); one side of the wrist buffer (17) is fixedly connected with the Achilles tendon upper support (1); the lower end of the foot connecting support assembly (16) is connected with the foot supporting seat (6) through a cross universal joint assembly (5) to form a cross universal joint; the upper end of the achilles tendon shock absorber (3) is hinged with the end part of the achilles tendon upper support (1), and the lower end of the achilles tendon shock absorber is hinged with the achilles tendon lower support (27) of the cross universal joint assembly (5) to form a bionic achilles tendon, so that the foot support (6) can rotate in a limited angle; spacing rubber (7) vulcanize in foot supporting seat (6) bottom, and foot connection pad (8) are connected with foot supporting seat (6) bottom rotation through spacing self-lubricating bearing (14), and foot callus on the sole assembly (11) and foot connection pad (8) interference are connected, and sole callus on the sole assembly (11) can the free rotation.
2. The cross-gimbal foot mechanism of the foot-type walking robot of claim 1, wherein: the wear-resistant gasket (15), the foot connecting disc (8), the limiting self-lubricating bearing (14) and the round gasket (13) are sequentially arranged and installed in the lower bottom surface of the foot supporting seat (6).
3. The cross-joint foot mechanism of the legged walking robot of claim 1, characterized in that: one end of the anti-skid cone (12) is fixedly connected with the foot pad assembly, and the other end of the anti-skid cone is contacted with the ground.
4. The cross-joint foot mechanism of the legged walking robot of claim 1, characterized in that: the cross universal joint assembly mainly comprises a bearing cover (21), a self-lubricating bearing II (22), a torsion spring (23), a cross shaft (26) and an achilles tendon lower support (27); the transverse shaft of the cross shaft (26) is rotationally connected with the U-shaped seat at the upper part of the foot supporting seat (6), one end of the transverse shaft is fixed with an achilles tendon lower supporting seat (27), and the foot connecting supporting seat assembly (16) is rotationally connected with the longitudinal shaft of the cross shaft (26).
5. The cross-gimbal foot mechanism of the foot-type walking robot of claim 4, wherein: self-lubricating bearings I are arranged at two ends of the longitudinal shaft.
6. The cross-gimbal foot mechanism of the foot-type walking robot of claim 4, wherein: a transverse shaft of the cross shaft (26) is firstly placed in a U-shaped seat at the upper part of the foot supporting seat (6), one end of the transverse shaft sequentially penetrates through the torsion spring, the second self-lubricating bearing and the bearing cover and is fixed, and the other end of the transverse shaft sequentially penetrates through the torsion spring (23), the second self-lubricating bearing (22) and the achilles tendon lower support (27) and is fixed; one end of the torsion spring is inserted into the fixing hole of the cross shaft (26), and the other end of the torsion spring is inserted into the positioning hole of the foot supporting seat (6).
7. The cross-gimbal foot mechanism of the foot-type walking robot of claim 1, wherein: the foot sole foot pad assembly mainly comprises a foot elastic framework (28), a foot adjusting seat (29) and a foot sole foot pad (30), wherein the foot adjusting seat (29) is positioned and adhered to the bottom surface of the foot elastic framework (28) and then is vulcanized with the foot sole rubber pad (30) into a whole.
8. The cross-joint foot mechanism of the legged walking robot of claim 1, characterized in that: the foot connecting support assembly (16) mainly comprises a sole connecting support (31) and lateral swing limiting rubber (32); the lateral swing limiting rubber (32) is vulcanized in grooves on two sides of the sole connecting support (31) to limit the angle of the foot assembly during longitudinal swing.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211048925.4A CN115285252B (en) | 2022-08-30 | 2022-08-30 | Cross universal joint foot mechanism of foot-type walking robot |
| PCT/CN2022/121591 WO2024045253A1 (en) | 2022-08-30 | 2022-09-27 | Cardan universal joint foot mechanism of foot-type walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211048925.4A CN115285252B (en) | 2022-08-30 | 2022-08-30 | Cross universal joint foot mechanism of foot-type walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115285252A true CN115285252A (en) | 2022-11-04 |
| CN115285252B CN115285252B (en) | 2023-04-25 |
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ID=83832734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211048925.4A Active CN115285252B (en) | 2022-08-30 | 2022-08-30 | Cross universal joint foot mechanism of foot-type walking robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115285252B (en) |
| WO (1) | WO2024045253A1 (en) |
Citations (7)
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| EP1953071A2 (en) * | 2007-02-02 | 2008-08-06 | Honda Motor Co., Ltd | Leg type mobile robot with schock absorber |
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
| CN110539285A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic flexible foot type tensioning mechanism |
| CN111374391A (en) * | 2017-06-20 | 2020-07-07 | 温州泓呈祥科技有限公司 | Climbing power-assisted shoe driven by universal joint with magnet |
| CN112943847A (en) * | 2021-03-08 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Pressure buffering device for foot end |
| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2697492B1 (en) * | 1992-11-05 | 1994-12-23 | Commissariat Energie Atomique | Walking robot foot. |
| US10543109B2 (en) * | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
| CN103204190B (en) * | 2013-03-11 | 2015-06-24 | 大连理工大学 | Robot foot mechanism |
| CN103434581B (en) * | 2013-08-08 | 2015-10-14 | 大连理工大学 | A kind of Sole mechanism of robot |
| CN109848966B (en) * | 2019-02-22 | 2022-08-16 | 重庆交通大学 | Single-drive bionic mechanical leg |
| CN113386985B (en) * | 2021-06-15 | 2022-09-13 | 北京邮电大学 | Rigid-flexible dual-mode operation mechanical arm |
| CN114148428B (en) * | 2021-12-10 | 2022-10-21 | 北京理工大学 | Multifunctional damping foot structure of robot |
| CN113928442B (en) * | 2021-12-16 | 2022-04-08 | 之江实验室 | Vibration reduction shank structure of humanoid robot |
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2022
- 2022-08-30 CN CN202211048925.4A patent/CN115285252B/en active Active
- 2022-09-27 WO PCT/CN2022/121591 patent/WO2024045253A1/en unknown
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1953071A2 (en) * | 2007-02-02 | 2008-08-06 | Honda Motor Co., Ltd | Leg type mobile robot with schock absorber |
| CN104401416A (en) * | 2014-12-11 | 2015-03-11 | 吉林大学 | Rigid-flexible coupling buffer bionic foot |
| CN105564529A (en) * | 2016-01-14 | 2016-05-11 | 大连理工大学 | Bionic sole mechanism for foot type robot |
| CN111374391A (en) * | 2017-06-20 | 2020-07-07 | 温州泓呈祥科技有限公司 | Climbing power-assisted shoe driven by universal joint with magnet |
| CN110539285A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic flexible foot type tensioning mechanism |
| CN112943847A (en) * | 2021-03-08 | 2021-06-11 | 常州龙源智能机器人科技有限公司 | Pressure buffering device for foot end |
| CN114750853A (en) * | 2022-05-17 | 2022-07-15 | 中国北方车辆研究所 | Passive type double-freedom-degree foot device of four-foot robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024045253A1 (en) | 2024-03-07 |
| CN115285252B (en) | 2023-04-25 |
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