CN1974300A - Polypod walking robot capable of being disassembled and reconstructed - Google Patents
Polypod walking robot capable of being disassembled and reconstructed Download PDFInfo
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- CN1974300A CN1974300A CNA2006101252166A CN200610125216A CN1974300A CN 1974300 A CN1974300 A CN 1974300A CN A2006101252166 A CNA2006101252166 A CN A2006101252166A CN 200610125216 A CN200610125216 A CN 200610125216A CN 1974300 A CN1974300 A CN 1974300A
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Abstract
The walking robot capable of being disassembled and reconstructed includes two rows of parallel food unit structures beside the frame unit, and features that it consists of food unit structures, frame unit structure and active joint unit structures, which may be separated from and combined to other unit structures easily. By means of changing the positions and number of the connecting frames, it is possible to alter the number and configuration of feet in the walking robot and to alter the structure and function of the walking robot. The present invention provides great expansion space for the structure and moving function of walking robot, can replace fault unit and composite new motion structure conveniently, and makes walking robot well fitting different motion environments. The present invention can also simplify structure and control of robot, and lower developing and using cost.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of polypod walking robot capable of being disassembled and reconstructed.
Background technology
The tradition mobile robot mainly comprises wheeled, crawler type, sufficient formula, mode of motion such as hybrid.Wherein, wheeled and caterpillar type robot is simple in structure, but its motion is limit by environmental factor, locomitivity a little less than.And the polypody walking robot can be on the road surface of injustice stabilized walking, can replace wheeled and caterpillar type robot and finish hauling operation in the complex environment of some unstructuredness, if design suitable leg/arm fusion structure again, then can make robot in dangerous or dangerous environment, replace people's work, finish the task that some wheeled robots are difficult for finishing by corresponding end-of-arm tooling.Therefore, this robotlike has boundless application prospect.In view of this, many in the world developed countries have all dropped into cooresponding manpower and financial resources and have carried out this robotlike's Study on Technology since nineteen sixties.Along with the progress of Computer Control Technology, Robotics is fast-developing especially.
At present, in the industrial robot field, the adaptive capacity that improves the industrial machinery arm by the research of modularization robot modular construction on the prerequisite that reduces development of industrial machinery arm and use cost has been arranged, however also very rare at the similar achievement in research of walking robot.Mainly concentrate on the control method and motion structure and function under the single working environment both at home and abroad about walking machine people's research, and it is very limited at the achievement in research of research cost that how to reduce walking robot and raising walking robot extendability, motion that enrich is a target to realize being suitable for the efficient of various working environments to embody a concentrated expression of most robots, and by adopting complicated motion structure and control method to realize above-mentioned target.These motion structures and control method are not only very complicated, and common this structure is once determining just to be good at making change, and when the working environment of robot or task changed, the adaptive capacity of robot obviously descended even can't work.In addition, increasingly sophisticated structure also can cause the rate of breakdown in the operational process significantly to increase, and the development cost of robot and use cost also so greatly increase.Therefore,, environment and task needs that walking robot often changes can not be fundamentally satisfied, the contradiction of enriching between robot function and reduction development and the use cost can not be solved by the function of increase motion structure and the method for complexity.
Summary of the invention
The objective of the invention is to overcome the weak point of prior art, a kind of walking robot that can be decomposed and reconstituted is provided, this walking robot can dynamic group synthesize the walking robot with multiple motion structure and mode of motion, to satisfy the needs of various environment and task, simplify robot construction and control simultaneously, reduce development and use cost.
Polypod walking robot capable of being disassembled and reconstructed provided by the invention, it is characterized in that: it comprises first foot unit, second foot unit, the 3rd foot unit, four-footed unit and fuselage support, and wherein fuselage support is provided with first to fourth upper bracket beam and first to fourth lower bracket beam;
The tail end of the upper and lower frame of first foot unit links to each other with the tail end of the upper and lower frame of second foot unit, and the tail end of the upper and lower frame of the 3rd foot unit links to each other with the tail end of the upper and lower frame of four-footed unit; First, second upper bracket beam and first, second lower bracket beam are installed on the upper spider and lower bearing bracket of first foot unit and the 3rd foot unit successively, and the 3rd, the 4th upper bracket beam and the 3rd, the 4th lower bracket beam are installed on second foot unit and four-footed unit upper spider and the lower bearing bracket successively;
The structure of four foot units is identical, includes sufficient end, calf joint, big leg joint, hip joint, upper spider and lower bearing bracket; Wherein, calf joint, big leg joint are the identical joint of structure of series combination with hip joint; The foot end comprises that toe, podomere bar are connected support with the 3rd; Wherein, the rear end of toe links to each other with the front end of podomere bar, and the podomere rod rear end is connected support and links to each other with the 3rd; The 3rd terminal connection support of foot links to each other with the terminal pad of calf joint; The connection support at calf joint rear portion links to each other with the terminal pad of big leg joint; The housing both sides of big leg joint link to each other with upper spider, lower bearing bracket respectively, and upper spider, lower bearing bracket link to each other with the terminal pad both sides of hip joint respectively;
The structure of above-mentioned calf joint, big leg joint and hip joint is identical, includes electrical motor, gear reducer, straight gear and turns to retarder; Electric machine support is positioned at housing, and electrical motor and gear reducer are arranged in the cavity of electric machine support, and gear reducer is positioned at the front end of electrical motor; The front end output shaft of gear reducer links to each other with first straight gear; Second, third straight gear is meshed with first straight gear respectively; Turn to reducer stent to be connected the front end of electric machine support; First, second turns to retarder to lay respectively to turn to the both sides of reducer stent; Second, third straight gear turns to the end of retarder to link to each other with first, second respectively; First, second connects support and is installed in the housing afterbody respectively; First, second terminal pad lays respectively at first, second outside that turns to retarder; Photoelectric encoder is positioned at the tail end of electrical motor, and potential device is positioned on the terminal pad.
Walking robot with light locomotive running is compared, the present invention has bigger extending space on the structure of walking robot and motor function, and can conveniently replace disabling unit, and reconfigure new motion structure, various movement environment is had stronger adaptive capacity.Simultaneously, because the assembled unit of system adopts unified modularization production-release design, combination walking robot robot system must be used with manufacturing cost reduce greatly.The walking robot robot system of forming with this form be the mobile robot field a recent studies on direction, have development space and application prospect widely.Particularly, the present invention has following effect:
1, the present invention has broken the restriction of existing various walking robot on the unit 26S Proteasome Structure and Function, utilize a plurality of simple machine people unit with same structure, according to environment and task needs, be combined into various walking robot robot systems quickly and easily with different structure and mode of motion.This unit that can be decomposed and reconstituted adopts the modular construction design that is suitable for making up, and constitutes multivariant foot unit by single motor-driven joint module, constitutes the walking robot with multiple mode of motion by a plurality of foot units.This make has been brought into play the extended capability of system in combination unit on 26S Proteasome Structure and Function to greatest extent, and can avoid the redundancy on 26S Proteasome Structure and Function as far as possible.
2, the present invention has adopted same modularization production-release design to form various types of walking robots, can make production in batches, and flexible combination becomes the multiple walking robot robot system that is suitable for various environment and mission requirements, thereby reduced the complexity of walking robot robot system in structure and control.
3, compare with the unit walking robot of undecomposable reconstruct, the present invention has bigger extending space on the structure of walking robot He on the motor function, and can replace disabling unit easily, be reassembled into new walking robot structure, different environment is had stronger adaptive capacity.Simultaneously, because various types of system in combination unit all adopts unified modularization production-release design, the use and the manufacturing cost of combination walking robot robot system are reduced greatly.The walking robot robot system of forming with this form is a recent studies on direction in Robotics field, has development space and application prospect widely.
Description of drawings
Fig. 1 is a four-footed configuration walking robot system schematic of the present invention, and wherein (a) is front view, (b) is birds-eye view.
Fig. 2 is of the present invention six sufficient configuration walking robot system schematic, and wherein (a) is front view, (b) is birds-eye view.
Fig. 3 is a foot unit structure embodiment scheme drawing of the present invention, and wherein (a) is front view, (b) is birds-eye view.
Fig. 4 is a joint of the present invention scheme drawing, and wherein (a) is front view, (b) is birds-eye view.
The specific embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing and example,
As shown in Figure 1, the four-footed configuration comprises first foot unit 1, second foot unit 2, the 3rd foot unit 3, four-footed unit 4 and fuselage support 5, wherein fuselage support is provided with upper bracket beam and lower bracket beam, is respectively first to fourth upper bracket beam 5a, 5b, 5c, 5d and first to fourth lower bracket beam 5e, 5f, 5g, 5h.
The tail end of the upper and lower frame of first foot unit 1 links to each other with the tail end of the upper and lower frame of second foot unit 2, and the tail end of the upper and lower frame of the 3rd foot unit 3 links to each other with the tail end of the upper and lower frame of four-footed unit 4.First, second upper bracket beam 5a, 5b and first, second lower bracket beam 5e, 5f are installed on first foot unit 1 and the 3rd foot unit 3 upper spiders and the lower bearing bracket successively, and the 3rd, the 4th upper bracket beam 5c, 5d and the 3rd, the 4th lower bracket beam 5g, 5h are installed on second foot unit 2 and four-footed unit 4 upper spiders and the lower bearing bracket successively.Can change the robot construction size by rack beams 5a, 5b, 5c, 5d, 5e, 5f, 5g, the 5h that different length is installed.
The four-footed configuration is the simplest walking robot configuration, and its control principle is by controlling each joint motions of four foot units, can make foot unit finish actions such as lifting, swing and fall.And controller lifts, swings and fall by planning that four foot units are finished in a certain order successively, just can realize walking movement.The sensor device that is installed in the joint of robot provides necessary status information for controller, and controller carries out analysis and arrangement according to status information and people's operational order, exports control signal then and comes robot command to finish corresponding action.
The structure of six sufficient configurations of the present invention is similar to the four-footed configuration, as shown in Figure 2, has only increased the 5th foot unit 6 and the 6th foot unit 7.The tail end of the upper and lower frame of the 5th foot unit 6 links to each other with the tail end of the upper and lower frame of the 6th foot unit 7.First, second upper bracket beam 5a, 5b and first, second lower bracket beam 5e, 5f are installed on the upper spider and lower bearing bracket of first foot unit 1, the 3rd foot unit 3 and the 5th foot unit 6 successively.Three, the 4th upper bracket beam 5c, 5d and the 3rd, the 4th lower bracket beam 5g, 5h are installed on the upper spider and lower bearing bracket of second foot unit 2, four-footed unit 4 and the 6th foot unit 7 successively.
The walking movement of the walking robot of six sufficient configurations and four-footed configuration are similar, are equally to finish successively in a certain order by six foot units of controller planning to lift, swing and fall the realization walking movement.Yet different with the four-footed configuration is that the walking robot function of six sufficient configurations is abundanter.It not only can utilize whole six foot units to realize sane walking movements, can also only utilize wherein four sufficient walkings or body support, and utilize remaining two foots to finish the work that is similar to arm, for example sample collecting and carrying etc.
By changing the number of foot unit, can also construct the polypody walking robot of other configuration.
As shown in Figure 3, comprise foot end 8, calf joint 9, big leg joint 10, hip joint 11, upper spider 12 and lower bearing bracket 13 by the foot unit that joint of robot of the present invention was combined into.Calf joint 9, big leg joint 10 are the identical joint of structure of series combination with hip joint 11.
Foot terminal 8 comprises that toe 8a, podomere bar 8b, the 3rd connect support 8c.The rear end of toe 8a links to each other with the front end of podomere bar 8b, and podomere bar 8b rear end is connected support 8c and links to each other with the 3rd.
The 3rd of terminal 8 rear portions of foot connect support and link to each other by attaching screw with the terminal pad of calf joint 9.The connection support at calf joint 9 rear portions links to each other by attaching screw with the terminal pad of big leg joint 10.The both sides of the housing of big leg joint 10 link to each other with upper spider 12, lower bearing bracket 13 respectively, and upper spider 12, lower bearing bracket 13 link to each other with the terminal pad both sides of hip joint 11 respectively.
Three joint coordinations under the control of controller of foot unit are moved the toe of foot terminal 8 with certain track in three dimensional space.The coordination of a plurality of foot units just can realize the motor function of robot.
Housing by changing big leg joint 10 and the installation site of upper and lower frame, calf joint 9 be connected support on housing the installation site or change the array mode in joint by the method for adding new joint.Installation site on housing or terminal pad can be front and back two sides or two sides up and down.
The present invention can adopt other array modes, constitutes the robot foot unit of various ways.
As shown in Figure 4, joint of robot of the present invention comprises driving device and sensing device two parts.
Driving device comprises that mainly electrical motor 20, gear reducer 19, first straight gear 18, second straight gear 17, the 3rd straight gear 28, first turn to retarder 25 and second to turn to retarder 27.
Electric machine support 16 is positioned at housing 14, and electrical motor 20 and gear reducer 19 are installed in the cavity of electric machine support 16, and gear reducer 19 is positioned at the front end of electrical motor 20.The front end output shaft of gear reducer 19 links to each other with first straight gear 18.Second, third straight gear 17,28 is meshed with first straight gear 18.Turn to reducer stent 15 to be connected the front end of electric machine support 16 by screw.First turns to retarder 25, second to turn to retarder 27 to be installed in the both sides that turn to reducer stent 15.Second straight gear 17, the 3rd straight gear 28 turn to retarder 25, second to turn to the end of retarder 27 to link to each other with first respectively.First, second connects support 22a, 22b and is installed in housing 14 afterbodys respectively.First, second terminal pad 23,29 lays respectively at the outside that first, second turns to retarder 25,27.First, second connects support 22a, 22b and links to each other with two terminal pads in next stage joint respectively by attaching screw 26.
Rotatablely moving of electrical motor 20 main shafts slowed down through gear reducer 19, first, second that is arranged in juxtaposition with two groups respectively by each straight gear 17,18 and 28 turns to retarder 25,27 to link to each other again, two turn to retarder with hand of rotation by being transformed to perpendicular to the joint shaft direction along the joint central axis direction.
Sensing device comprises photoelectric encoder 21 that is installed in electrical motor 20 tail ends and the potential device 24 that is installed on the terminal pad 23, and photoelectric encoder 21 is used to obtain the tach signal of electrical motor 20, and potential device 24 is used to obtain the absolute location information that terminal pad 23 rotates.
First, second connects support 22a, the installation site of 22b on housing 14, can be chosen in front and back two sides of its afterbody or two sides up and down, to change the turning cylinder angulation with the next stage joint, realizes two kinds of array modes.
The work and the control principle in joint be, electrical motor 20 main shafts are high speed revolution under joint control control, after the motion of main shaft is slowed down through driving device and changed direction, drives terminal pad 23 and rotate, and realizes the rotation in joint.The motor speed signal that joint control obtains by measuring light photoelectric coder 21, the absolute angle position calculated signals of terminal pad of passing through 24 acquisitions of measurement potential device and the deviation of target location, and control motor 20 main shafts turn to the target location with certain speed and acceleration/accel.
Gear reducer 19 can adopt planetary reduction gear or straight gear retarder; Turn to retarder 25,27 can adopt worm and gear, helical tooth wheel set or bevel-gear pair, all can constitute joint of robot of the present invention.
Claims (2)
1, a kind of polypod walking robot capable of being disassembled and reconstructed, comprise first foot unit (1), second foot unit (2), the 3rd foot unit (3), four-footed unit (4) and fuselage support (5), wherein fuselage support (5) is provided with first to fourth upper bracket beam (5a, 5b, 5c, 5d) and first to fourth lower bracket beam (5e, 5f, 5g, 5h);
The tail end of the upper and lower frame of first foot unit (1) links to each other with the tail end of the upper and lower frame of second foot unit (2), and the tail end of the upper and lower frame of the 3rd foot unit (3) links to each other with the tail end of the upper and lower frame of four-footed unit (4); First, second upper bracket beam (5a, 5b) and first, second lower bracket beam (5e, 5f) are installed on the upper spider and lower bearing bracket of first foot unit (1) and the 3rd foot unit (3) successively, and the 3rd, the 4th upper bracket beam (5c, 5d) and the 3rd, the 4th lower bracket beam (5g, 5h) are installed on second foot unit (2) and four-footed unit (4) upper spider and the lower bearing bracket successively;
The structure of first to fourth foot unit (1,2,3,4) is identical, includes sufficient end, calf joint, big leg joint, hip joint, upper spider and lower bearing bracket; Wherein, calf joint, big leg joint are the identical joint of structure of series combination with hip joint; The foot end comprises that toe, podomere bar are connected support with the 3rd; Wherein, the rear end of toe links to each other with the front end of podomere bar, and the podomere rod rear end is connected support and links to each other with the 3rd; The 3rd terminal connection support of foot links to each other with the terminal pad of calf joint; The connection support at calf joint rear portion links to each other with the terminal pad of big leg joint; The housing both sides of big leg joint link to each other with upper spider, lower bearing bracket respectively, and upper spider, lower bearing bracket link to each other with the terminal pad both sides of hip joint respectively;
The structure of above-mentioned calf joint, big leg joint and hip joint is identical, includes electrical motor, gear reducer, straight gear and turns to retarder; Electric machine support is positioned at housing, and electrical motor and gear reducer are arranged in the cavity of electric machine support, and gear reducer is positioned at the front end of electrical motor; The front end output shaft of gear reducer links to each other with first straight gear; Second, third straight gear is meshed with first straight gear respectively; Turn to reducer stent to be connected the front end of electric machine support; First, second turns to retarder to lay respectively to turn to the both sides of reducer stent; Second, third straight gear turns to the end of retarder to link to each other with first, second respectively; First, second connects support and is installed in the housing afterbody respectively; First, second terminal pad lays respectively at first, second outside that turns to retarder; Photoelectric encoder is positioned at the tail end of electrical motor, and potential device is positioned on the terminal pad.
2, polypody walking robot according to claim 1 is characterized in that: it also comprises the 5th foot unit (6) and the 6th foot unit (7); The tail end of the upper and lower frame of the 5th foot unit (6) links to each other with the tail end of the upper and lower frame of the 6th foot unit (7); First, second upper bracket beam (5a, 5b) and first, second lower bracket beam (5e, 5f) are installed on the upper spider and lower bearing bracket of first foot unit (1), the 3rd foot unit (3) and the 5th foot unit (6) successively; Three, the 4th upper bracket beam (5c, 5d) and the 3rd, the 4th lower bracket beam (5g, 5h) are installed on the upper spider and lower bearing bracket of second foot unit (2), four-footed unit (4) and the 6th foot unit (7) successively.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101252166A CN100441468C (en) | 2006-12-01 | 2006-12-01 | Polypod walking robot capable of being disassembled and reconstructed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101252166A CN100441468C (en) | 2006-12-01 | 2006-12-01 | Polypod walking robot capable of being disassembled and reconstructed |
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| Publication Number | Publication Date |
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| CN1974300A true CN1974300A (en) | 2007-06-06 |
| CN100441468C CN100441468C (en) | 2008-12-10 |
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| CNB2006101252166A Expired - Fee Related CN100441468C (en) | 2006-12-01 | 2006-12-01 | Polypod walking robot capable of being disassembled and reconstructed |
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| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN102139715A (en) * | 2011-01-31 | 2011-08-03 | 郑宇� | Novel robot walking mechanism and method |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103273980A (en) * | 2013-06-17 | 2013-09-04 | 吉林大学 | Modular robot capable of being self-assembled into multi-foot wheel-leg robot |
| CN103661664A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Transfer case type control multi-leg walking machine |
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN103733149A (en) * | 2011-08-01 | 2014-04-16 | Thk株式会社 | Load control system and load drive system |
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| CN104228996A (en) * | 2014-09-26 | 2014-12-24 | 哈尔滨理工大学 | Double-power quadruped robot capable of walking on ramp |
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| CN105905182A (en) * | 2016-04-19 | 2016-08-31 | 青岛滨海学院 | Intelligent four-foot investigation robot |
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| CN109367646A (en) * | 2018-11-19 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of modular reconfigurable multi-foot robot |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
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| CN102139715A (en) * | 2011-01-31 | 2011-08-03 | 郑宇� | Novel robot walking mechanism and method |
| CN102092429B (en) * | 2011-03-24 | 2013-03-20 | 天津理工大学 | Two-leg walking mechanism |
| CN102092429A (en) * | 2011-03-24 | 2011-06-15 | 天津理工大学 | Two-leg walking mechanism |
| CN103733149A (en) * | 2011-08-01 | 2014-04-16 | Thk株式会社 | Load control system and load drive system |
| CN103733149B (en) * | 2011-08-01 | 2016-10-19 | Thk株式会社 | Load control system and load driving system |
| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN103661664A (en) * | 2012-09-07 | 2014-03-26 | 南京理工大学 | Transfer case type control multi-leg walking machine |
| CN103661664B (en) * | 2012-09-07 | 2016-01-20 | 南京理工大学 | Partition type controls polypody walking machine |
| CN103231751B (en) * | 2013-04-07 | 2015-05-27 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103231751A (en) * | 2013-04-07 | 2013-08-07 | 哈尔滨工程大学 | Single-joint-sealed amphibious multi-legged robot |
| CN103273980A (en) * | 2013-06-17 | 2013-09-04 | 吉林大学 | Modular robot capable of being self-assembled into multi-foot wheel-leg robot |
| CN103661667A (en) * | 2013-12-11 | 2014-03-26 | 北京航空航天大学 | Smart quadruped robot with flexible waist |
| CN103661667B (en) * | 2013-12-11 | 2015-11-18 | 北京航空航天大学 | A kind of dexterous type quadruped robot with flexible waist |
| CN104165064A (en) * | 2014-08-15 | 2014-11-26 | 山东科技大学 | Shotcreting mechanical arm with six-foot walking device |
| CN104228996A (en) * | 2014-09-26 | 2014-12-24 | 哈尔滨理工大学 | Double-power quadruped robot capable of walking on ramp |
| CN104228996B (en) * | 2014-09-26 | 2016-03-30 | 哈尔滨理工大学 | A kind of double dynamical quadruped robot for the walking of slope road |
| CN104859745A (en) * | 2015-05-20 | 2015-08-26 | 天津大学 | Multi-legged biomimetic robot with metamorphic mechanism on waist |
| CN104859745B (en) * | 2015-05-20 | 2017-04-05 | 天津大学 | A kind of polypody bio-robot that metamorphic mechanisms are used in waist |
| CN105905182A (en) * | 2016-04-19 | 2016-08-31 | 青岛滨海学院 | Intelligent four-foot investigation robot |
| CN107351938A (en) * | 2017-07-10 | 2017-11-17 | 上海理工大学 | A kind of multi-joint climbing robot |
| CN108006366A (en) * | 2017-12-04 | 2018-05-08 | 江苏科技大学 | A kind of multi-foot walking formula detecting robot of pipe |
| CN108382484A (en) * | 2018-02-28 | 2018-08-10 | 华中科技大学 | A kind of Multifeet walking robot for flexibly turning to advance |
| CN109367646A (en) * | 2018-11-19 | 2019-02-22 | 中国船舶重工集团公司第七〇九研究所 | A kind of modular reconfigurable multi-foot robot |
| CN110962956A (en) * | 2019-11-28 | 2020-04-07 | 北京理工大学 | Reconfigurable wheel-foot robot based on parallel modular structure |
| CN111195901A (en) * | 2020-01-21 | 2020-05-26 | 北京交通大学 | Multi-foot deformation robot based on Schatz mechanism |
| CN111195901B (en) * | 2020-01-21 | 2021-06-15 | 北京交通大学 | Multi-foot deformation robot based on Schatz mechanism |
| CN111846004A (en) * | 2020-07-21 | 2020-10-30 | 李荣仲 | Four-footed robot dog with gravity center adjustment mechanism |
| CN115303381A (en) * | 2022-09-13 | 2022-11-08 | 哈尔滨工业大学 | High-speed low-energy-consumption hexapod robot based on dead point supporting effect |
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| CN100441468C (en) | 2008-12-10 |
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