CN204110201U - A kind of multiple degree of freedom running gear for six biped robots - Google Patents
A kind of multiple degree of freedom running gear for six biped robots Download PDFInfo
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- CN204110201U CN204110201U CN201420600199.7U CN201420600199U CN204110201U CN 204110201 U CN204110201 U CN 204110201U CN 201420600199 U CN201420600199 U CN 201420600199U CN 204110201 U CN204110201 U CN 204110201U
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Abstract
The utility model discloses a kind of multiple degree of freedom running gear for six biped robots, comprise the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, electronic compartment, tibia and foot, the adaptive capacity of the complex-terrains such as robot slope, arrow path, ditch, bank can be improved by the fit system changing four degree of freedom, make motion flexibly and time reduce energy consumption; Intra articular installs harmonic speed reducer additional, and reduction ratio is large and accurate, reduces the design difficulty of robot control system; Noise is little, stable drive, adopts titanium alloy material, reduces deadweight, conserve energy, and improve load-carrying ability, volume is little, lightweight, is convenient to the lightweight realizing mechanism; Leg electronic compartment can carry Information Collection System or leg partial control system, reduces the complexity of robot overall system control; It is higher that part leads to adaptive, is convenient to part maintenance, replaces, reduce maintenance difficulties.
Description
Technical field
The utility model relates to a kind of bio-robot, particularly a kind of multiple degree of freedom running gear for six biped robots.
Background technology
In recent years, along with bionics theory and the develop rapidly of computer technology, to the research of polypody bio-robot, the especially research of six biped robots, becomes the focus that everybody pays close attention to gradually.And domestic and international Duo Suo university and research institution, also the bionic 6-leg robot running gear of many moneys function admirable has been produced in research in succession.
By the six biped robot Genghiss of Massachusetts Institute Technology Artificial Intelligence Laboratory in development in 1989, its main application is for carry out scientific exploration task on exterior planets surface.Its every bar leg has two rotary freedoms, adopts the driven by servomotor of position-based feedback, is integrated with current measuring unit to obtain moment information, is equipped with two Whisker Sensors, two single-axis accelerometers, can walks on complex road surface.But the joint designs often had owing to not adopting arthropod, its landform comformability is had a greatly reduced quality; And the state-of-art be limited at that time, do not use sensor to carry out Data Collection, the feedback regulation ability for environmental change is more weak.
By CWRU of U.S. machinery and six biped robot Robot II of space engineering institute bio-robot laboratory development, every bar leg has four independently degree of freedom, three rotate initiatively degree of freedom, a passive compliance degree of freedom along tibia axis direction, adopt potentiometer measurement joint angle position, strain-gauge, then for measuring the axial force on tibia, combines plantar reflex mechanism to tackle complicated landform.Degree of freedom more on leg makes its obstacle climbing ability be greatly improved, and carries out making great progress in feedback regulation at information simultaneously.
The six biped robot Tarry II developed by School of Mechanical Engineering of Duisburg, Germany university, every bar leg has three rotary freedoms, adopt servo driving, be equipped with sufficient end in contact sense sensor, for measuring two axis accelerometers of attitude, the strain measurement circuit for obtaining load information that meropodium is installed, and trunk front end is for keeping away the ultrasonic transduter of barrier, can realize accidental relief all direction walking.Profile, joint and foot design show slightly coarse, also do not consider for the details such as anti-skidding.
The six biped robot RHex developed by the unit such as California, USA Berkeley, every leg only has an actuator, but achieves the autonomous of power and control.Be equipped with a triaxial accelerometer and a three axis optical fibre gyro instrument simultaneously, attitude can adjusted by after outer force-disturbance, obtained the transient posture of trunk by the strain measurement unit of each leg, and rapid enable autonomous gait control newly drives load to reduce, and realizes self adaptation and runs.It is taken turns leg fusion intention and provides new approaches for solving the problems such as multi-foot robot gait of march is slow.
Because multi-joint mechanism has action radius greatly, the advantage that alerting ability is good, institute thinks that walking robot adopts in recent years.But, there is the problem of complex structure, body heaviness in current prosthetic robot.Six-foot walking robot will realize omnibearing walking, needs every bar leg at least to have three degree of freedom.Because the extremity body structures of this structure and insect is the most close, stable gesture stability can be realized, take action also more flexible.Multiple degree of freedom leg is designed to the power that walking robot provides enough, and ensure that the independence of motion; But often increase one degree of freedom and need increase a motor, the energy consumption of moving is increased greatly.
Summary of the invention
The purpose of this utility model is to provide a kind of multiple degree of freedom running gear for six biped robots, and it has the features such as multiple degree of freedom, compact conformation, controllability be good, and six biped robots can be helped to adapt to non-structure environments.
The utility model comprises the first joint, second joint, the 3rd joint, the 4th joint, the 5th joint, electronic compartment, tibia and foot; Wherein the first joint earrings is enclosed within the second joint boss of second joint stator upper end, and fixes with several first screw; Second joint earrings is enclosed within the 3rd joint boss of stator casing 301 upper end in the 3rd joint, and fixes with the second screw; The 3rd joint fin on the rotor case in the 3rd joint, embeds in the 4th joint groove of the 4th upper end, joint, and fixes with several 3rd screw; 4th joint earrings is set on the 5th joint boss in the 5th joint, and fixes with several 4th screw; The 5th joint fin on 5th joint, embeds in the electronic compartment groove of electronic compartment upper end, and fixes with several 5th screw; The bottom of electronic compartment is provided with tibia, and the bottom of tibia is provided with foot.
The 3rd described joint comprises stator casing, cap, motor, coupler, transmission shaft, clutch shaft bearing, the second bearing, harmonic speed reducer, cover of dust, castellated shaft and rotor case, wherein stator casing is arranged on the leading portion in the 3rd joint, stator casing upper end is provided with the 3rd joint boss, cap is provided with the first otic placode, stator casing is provided with the second otic placode, stator casing and cap are fixed together through the first otic placode and the second otic placode by several first bolt, and use the first nut screwing clamping; The inside of stator casing offers several first through hole, the base of motor offers several second through hole, second through hole and the first through hole are to corresponding, motor is set in stator casing, second bolt is through the first through hole and the second through hole, and use the second nut screwing clamping, motor and stator casing are fixed together; The mouth of motor is connected with transmission shaft by coupler, together with transmission shaft, clutch shaft bearing, harmonic speed reducer, the second bearing, cover of dust, castellated shaft and rotor case are coaxially set on successively, the first key is used to be connected between transmission shaft with harmonic speed reducer, cover of dust is fixed on stator casing by the 6th screw, closes the second bearing; Blind-mate inside rotor case and the second bearing, with stator casing interference fit outside the second bearing; The second key is used to be connected between castellated shaft with harmonic speed reducer.
The first described joint, second joint are identical with the inner structure in the 3rd joint with the inner structure in the 5th joint, therefore repeat no more.
Principle of work of the present utility model and working process:
The principle of work in described 3rd joint is the motor output power in stator casing, passes to transmission shaft through coupler, and the deceleration through harmonic speed reducer increases torsion effect, is delivered to castellated shaft, then rotates through rotor case inner spline groove rotor driven shell; By electronic compartment controlling system, control motor and operate according to certain rule, make stator casing when static, rotor case does gyroscopic movement according to given order.
Described first joint, second joint are identical with the principle of work in the 3rd joint with the principle of work in the 5th joint, therefore repeat no more.
Application process of the present utility model is as follows:
Terrestrial information, when kiss the earth, is passed to electronic compartment by pressure sensor by foot, landform residing for electronic compartment 6 discriminatory analysis, carries out gait adjustment:
1, when contacting smooth landform, the 3rd joint and the 5th joint rotate, and leg is tightened up, after reduction leg span, the first joint, the 3rd joint, the 4th joint and the 5th joint are locked, simultaneously second joint rotates, and realizes swaying legs action by a small margin, adapt to entirely just as time conserve energy.
2, when contacting accidental relief, the 3rd joint and the 5th joint rotate, and make leg extension, after increase leg span, the first joint, the 3rd joint, the 4th joint and the 5th joint are locked, second joint rotates simultaneously, realizes significantly swaying legs action, strengthens and keeps away barrier ability.
3, when contacting clinoform, there is larger diff-H in left and right foot, is in relatively high joint, parapodum portion the 3rd and the 5th joint and rotates, leg is tightened up, after reduction leg span, the first joint, the 3rd joint, the 4th joint and the 5th joint are locked, and second joint rotates simultaneously; Be in relatively low joint, parapodum portion the 3rd and the 5th joint to rotate, make leg extension, after increase leg span, the first joint, the 3rd joint, the 4th joint and the 5th joint are locked, second joint rotates simultaneously, by the adjustment of leg span between the leg of left and right, make six biped robot health maintenance levels, be suitable for clinoform.
4, when six biped robots need laterally to walk, the first joint and second joint locked, the 3rd joint and the 5th joint rotate simultaneously, realize level ground laterally walking.
The beneficial effects of the utility model:
1, the adaptive capacity of the complex-terrains such as robot slope, arrow path, ditch, bank can be improved by the fit system of conversion four degree of freedom, make motion flexibly and time reduce energy consumption;
2, intra articular installs harmonic speed reducer additional, and reduction ratio is large and accurate, reduces the design difficulty of robot control system;
3, noise is little, stable drive, adopts titanium alloy material, reduces deadweight, conserve energy, and improve load-carrying ability, volume is little, lightweight, is convenient to the lightweight realizing mechanism;
4, leg electronic compartment can carry Information Collection System or leg partial control system, reduces the complexity of robot overall system control;
5, to lead to adaptive higher for part, is convenient to part maintenance, replaces, reduce maintenance difficulties.
Accompanying drawing explanation
Fig. 1 is the overall schematic perspective view figure of the utility model embodiment.
Fig. 2 is the utility model embodiment the 3rd joint perspective exploded view.
Fig. 3 is the utility model embodiment the 3rd intra articular structural representation.
Fig. 4 is the utility model embodiment the 3rd joint cutaway view.
Fig. 5 is the utility model embodiment first joint schematic perspective view.
Fig. 6 is the utility model embodiment second joint schematic perspective view.
Fig. 7 is the utility model embodiment the 3rd joint schematic perspective view.
Fig. 8 is the utility model embodiment the 4th joint schematic perspective view.
Fig. 9 is the utility model embodiment the 5th joint schematic perspective view.
Figure 10 is the utility model embodiment the 3rd joint and the 4th joint connection diagram.
Figure 11 is the utility model embodiment the 5th joint and electronic compartment connection diagram.
Wherein: 1-first joint, 2-second joint, 3-the 3rd joint, 4-the 4th joint, 5-the 5th joint, 6-electronic compartment, 7-tibia, 8-foot, 9-first screw, 10-second screw, 101-first joint earrings, 11-the 3rd screw, 12-the 4th screw, 13-the 5th screw, 201-second joint earrings, 202-second joint boss, 301-stator casing, 302-cap, 303-first bolt, 304-first nut, 305-first otic placode, 306-second otic placode, 307-first through hole, 308-motor, 309-second bolt, 311-second through hole, 312-coupler, 313-transmission shaft, 314-first key, 315-clutch shaft bearing, 316-second bearing, 317-harmonic speed reducer, 318-cover of dust, 319-third through-hole, 320-the 7th screw, 321-castellated shaft, 322-rotor case, 323-second key, 324-the 3rd joint boss, 325-the 3rd joint fin, 401-the 4th joint earrings, 402-the 4th joint groove, 501-the 5th joint boss, 502-the 5th joint fin, 601-electronic compartment groove.
Detailed description of the invention
Refer to shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10 and Figure 11, for embodiment of the present utility model, it comprises the first joint 1, second joint 2, the 3rd joint 3, the 4th joint 4, the 5th joint 5, electronic compartment 6, tibia 7 and foot 8; Wherein the first joint earrings 101 is enclosed within the second joint boss 202 of second joint 2 stator upper end, and fixes with four the first screws 9; Second joint earrings 201 is enclosed within the 3rd joint boss 324 of stator casing 301 upper end in the 3rd joint 3, and fixes with the second screw 10; The 3rd joint fin 325 on the rotor case 322 in the 3rd joint 3 embeds in the 4th joint groove 402 of the 4th upper end, joint 4, and fixes with four the 3rd screws 11; 4th joint earrings 401 is set on the 5th joint boss 501 in the 5th joint 5, and fixes with four the 4th screws 12; The 5th joint fin 502 on 5th joint 5 embeds in the electronic compartment groove 601 of electronic compartment 6 upper end, and fixes with four the 5th screws 13; The bottom of electronic compartment 6 is provided with tibia 7, and the bottom of tibia 7 is provided with foot 8.
The 3rd described joint 3 comprises stator casing 301, cap 302, motor 308, coupler 312, transmission shaft 313, clutch shaft bearing 315, second bearing 316, harmonic speed reducer 317, cover of dust 318, castellated shaft 321 and rotor case 322, wherein stator casing 301 is arranged on the leading portion in the 3rd joint 3, stator casing 301 upper end is provided with the 3rd joint boss 324, cap 302 is provided with the first otic placode 305, stator casing 301 is provided with the second otic placode 306, stator casing 301 and cap 302 are fixed together through the first otic placode 305 and the second otic placode 306 by four the first bolts 303, and tighten with the first nut 304, the inside of stator casing 301 offers four the first through holes 307, the base of motor 308 offers four the second through holes 311, second through hole 311 and the first through hole 307 are to corresponding, motor 308 is set in stator casing 301, second bolt 309 is through the first through hole 307 and the second through hole 311, and tighten with the second nut 310, motor 308 and stator casing 301 are fixed together, the mouth of motor 308 is connected with transmission shaft 313 by coupler 312, transmission shaft 313, together with clutch shaft bearing 315, harmonic speed reducer 317, second bearing 316, cover of dust 318, castellated shaft 321 are coaxially set on successively with rotor case 322, the first key 314 is used to be connected between transmission shaft 313 with harmonic speed reducer 317, cover of dust 318 is fixed on stator casing 301 by the 6th screw 320, closes the second bearing 316, blind-mate inside rotor case 322 and the second bearing 316, with stator casing 301 interference fit outside the second bearing 316, the second key 323 is used to be connected between castellated shaft 321 with harmonic speed reducer 317.
The first described joint 1, second joint 2 are identical with the inner structure in the 3rd joint 3 with the inner structure in the 5th joint 5, therefore repeat no more.
The principle of work of the present embodiment and working process:
The principle of work in described 3rd joint 3 is motor 308 outputting power in stator casing 301, transmission shaft 313 is passed to through coupler 312, deceleration through harmonic speed reducer 317 increases torsion effect, is delivered to castellated shaft 321, then rotates through rotor case 322 inner spline groove rotor driven shell 322; By electronic compartment 6 controlling system, control motor 308 according to certain rule running, make stator casing 301 when static, rotor case 322 does gyroscopic movement according to given order.
Described first joint 1, second joint 2 are identical with the principle of work in the 3rd joint 3 with the principle of work in the 5th joint 5, therefore repeat no more.
The application process of the present embodiment is as follows:
Terrestrial information, when kiss the earth, is passed to electronic compartment 6 by pressure sensor by foot 8, landform residing for electronic compartment 6 discriminatory analysis, carries out gait adjustment:
1, when contacting smooth landform, 3rd joint 3 and the 5th joint 5 rotate, leg is tightened up, after reduction leg span, the first joint 1, the 3rd joint 3, the 4th joint 4 and the 5th joint 5 are locked, second joint 2 rotates simultaneously, realize swaying legs action by a small margin, adapt to entirely just as time conserve energy.
2, when contacting accidental relief, the 3rd joint 3 and the 5th joint 5 rotate, and make leg extension, after increase leg span, the first joint 1, the 3rd joint 3, the 4th joint 4 and the 5th joint 5 are locked, second joint 2 rotates simultaneously, realizes significantly swaying legs action, strengthens and keeps away barrier ability.
3, when contacting clinoform, the larger diff-H of left and right foot existence, is in relatively high joint 3, parapodum portion the 3rd and the 5th joint 5 rotates, and leg is tightened up, after reduction leg span, the first joint 1, the 3rd joint 3, the 4th joint 4 and the 5th joint 5 are locked, and second joint 2 rotates simultaneously; Be in relatively low joint 3, parapodum portion the 3rd and the 5th joint 5 rotates, make leg extension, after increase leg span, the first joint 1, the 3rd joint 3, the 4th joint 4 and the 5th joint 5 are locked, second joint 2 rotates simultaneously, by the adjustment of leg span between the leg of left and right, make six biped robot health maintenance levels, be suitable for clinoform.
4, when six biped robots need laterally to walk, the first joint 1 and second joint 2 locked, the 3rd joint 3 and the 5th joint 5 rotate simultaneously, realize level ground laterally walking.
Claims (1)
1. the multiple degree of freedom running gear for six biped robots, comprise the first joint (1), second joint (2), the 3rd joint (3), the 4th joint (4), the 5th joint (5), electronic compartment (6), tibia (7) and foot (8), it is characterized in that: the first joint earrings (101) is enclosed within the second joint boss (202) of second joint (2) stator upper end, and fix with several first screw (9); Second joint earrings (201) is enclosed within the 3rd joint boss (324) of stator casing (301) upper end in the 3rd joint (3), and fixes with the second screw (10); The 3rd joint fin (325) on the rotor case (322) in the 3rd joint (3) embeds in the 4th joint groove (402) of the 4th joint (4) upper end, and fixes with several 3rd screw (11); 4th joint earrings (401) is set on the 5th joint boss (501) in the 5th joint (5), and fixes with several 4th screw (12); The 5th joint fin (502) on 5th joint (5) embeds in the electronic compartment groove (601) of electronic compartment (6) upper end, and fixes with several 5th screw (13); The bottom of electronic compartment (6) is provided with tibia (7), and the bottom of tibia (7) is provided with foot (8);
The 3rd described joint (3) comprises stator casing (301), cap (302), motor (308), coupler (312), transmission shaft (313), clutch shaft bearing (315), second bearing (316), harmonic speed reducer (317), cover of dust (318), castellated shaft (321) and rotor case (322), wherein stator casing (301) is arranged on the leading portion in the 3rd joint (3), stator casing (301) upper end is provided with the 3rd joint boss (324), cap (302) is provided with the first otic placode (305), stator casing (301) is provided with the second otic placode (306), stator casing (301) and cap (302) are fixed together through the first otic placode (305) and the second otic placode (306) by several first bolt (303), and tighten with the first nut (304), the inside of stator casing (301) offers several first through hole (307), the base of motor (308) offers several second through hole (311), second through hole (311) and the first through hole (307) are to corresponding, motor (308) is set in stator casing (30), second bolt (309) is through the first through hole (307) and the second through hole (311), and tighten with the second nut (310), motor (308) and stator casing (301) are fixed together, the mouth of motor (308) is connected with transmission shaft (313) by coupler (312), transmission shaft (313), clutch shaft bearing (315), harmonic speed reducer (317), second bearing (316), cover of dust (318), castellated shaft (321) and rotor case (322) are coaxially set on together successively, the first key (314) is used to be connected between transmission shaft (313) with harmonic speed reducer (317), cover of dust (318) is fixed on stator casing (301) by the 6th screw (320), close the second bearing (316), rotor case (322) and the second bearing (316) inner side blind-mate, the second bearing (316) outside and stator casing (301) interference fit, the second key (323) is used to be connected between castellated shaft (321) with harmonic speed reducer (317),
Described the first joint (1), second joint (2) are identical with the inner structure in the 3rd joint (3) with the inner structure in the 5th joint (5).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420600199.7U CN204110201U (en) | 2014-10-15 | 2014-10-15 | A kind of multiple degree of freedom running gear for six biped robots |
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| CN201420600199.7U CN204110201U (en) | 2014-10-15 | 2014-10-15 | A kind of multiple degree of freedom running gear for six biped robots |
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| CN204110201U true CN204110201U (en) | 2015-01-21 |
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Cited By (14)
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| CN105119456A (en) * | 2015-08-12 | 2015-12-02 | 杨斌堂 | Self-driven rotating shaft multidimensional rotation drive system |
| CN106078714A (en) * | 2016-07-29 | 2016-11-09 | 柳州福能机器人开发有限公司 | The assembly method of man-machine collaboration robot walking device |
| CN106166673A (en) * | 2016-07-29 | 2016-11-30 | 柳州福能机器人开发有限公司 | A kind of processing and assembling of articulated robot walking mechanism |
| CN106184460A (en) * | 2016-07-25 | 2016-12-07 | 南京理工大学 | A kind of modularized bionic pedipulator |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN108163080A (en) * | 2017-12-04 | 2018-06-15 | 香港中文大学（深圳） | Adapt to the electric drive quadruped robot of the high load capability of complicated rugged topography |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN110775179A (en) * | 2018-07-31 | 2020-02-11 | 吉林大学 | Bionic bearing robot device and method for selecting gait mode |
| CN112829849A (en) * | 2021-01-12 | 2021-05-25 | 北京交通大学 | Four-foot walking robot |
| CN113212589A (en) * | 2021-06-09 | 2021-08-06 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105119456A (en) * | 2015-08-12 | 2015-12-02 | 杨斌堂 | Self-driven rotating shaft multidimensional rotation drive system |
| CN106184460B (en) * | 2016-07-25 | 2018-10-12 | 南京理工大学 | A kind of modularized bionic pedipulator |
| CN106184460A (en) * | 2016-07-25 | 2016-12-07 | 南京理工大学 | A kind of modularized bionic pedipulator |
| CN106078714A (en) * | 2016-07-29 | 2016-11-09 | 柳州福能机器人开发有限公司 | The assembly method of man-machine collaboration robot walking device |
| CN106166673A (en) * | 2016-07-29 | 2016-11-30 | 柳州福能机器人开发有限公司 | A kind of processing and assembling of articulated robot walking mechanism |
| CN106476928A (en) * | 2016-12-21 | 2017-03-08 | 山东大学 | The variable electronic quadruped robot of mechanism configuration |
| CN107856756B (en) * | 2017-11-01 | 2020-08-18 | 北京航空航天大学 | Variable-configuration bionic quadruped robot |
| CN107856756A (en) * | 2017-11-01 | 2018-03-30 | 北京航空航天大学 | A kind of bionical quadruped robot of allosteric type |
| CN108163080A (en) * | 2017-12-04 | 2018-06-15 | 香港中文大学（深圳） | Adapt to the electric drive quadruped robot of the high load capability of complicated rugged topography |
| CN108163080B (en) * | 2017-12-04 | 2024-01-23 | 香港中文大学（深圳） | Electrically driven quadruped robot capable of adapting to high load capacity of complex rugged terrain |
| CN108238126A (en) * | 2017-12-30 | 2018-07-03 | 哈尔滨工业大学深圳研究生院 | A kind of Lun Zu omnidirectional movings robot |
| CN108583721A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type bionic leg |
| CN108583725A (en) * | 2018-07-13 | 2018-09-28 | 长沙紫宸科技开发有限公司 | A kind of easy assembling type can be from the Form of Bionics Mechanical Legs of the autonomous distributed power of lock strap |
| CN110775179A (en) * | 2018-07-31 | 2020-02-11 | 吉林大学 | Bionic bearing robot device and method for selecting gait mode |
| CN110775179B (en) * | 2018-07-31 | 2024-01-30 | 吉林大学 | Bionic bearing robot device and gait mode selection method thereof |
| CN112829849A (en) * | 2021-01-12 | 2021-05-25 | 北京交通大学 | Four-foot walking robot |
| CN112829849B (en) * | 2021-01-12 | 2022-03-08 | 北京交通大学 | Four-foot walking robot |
| CN113212589A (en) * | 2021-06-09 | 2021-08-06 | 大连海事大学 | Wheel-foot type robot leg structure |
| CN113619706A (en) * | 2021-09-22 | 2021-11-09 | 成都理工大学 | Four-joint hydraulic drive type robot leg |
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