CN206263965U - A kind of class humanoid robot of the motion sensing control based on Kinect - Google Patents
A kind of class humanoid robot of the motion sensing control based on Kinect Download PDFInfo
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- CN206263965U CN206263965U CN201621113941.7U CN201621113941U CN206263965U CN 206263965 U CN206263965 U CN 206263965U CN 201621113941 U CN201621113941 U CN 201621113941U CN 206263965 U CN206263965 U CN 206263965U
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- servomotors
- kinect
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- motion sensing
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Abstract
A kind of class humanoid robot of the motion sensing control based on Kinect is perceived by Kinect and is constituted with host computer process part, STM32 slave computers part, and the part of human-like machinery frame part three.The utility model realizes more natural, flexible control, man-machine interaction close friend by Kinect；There is real time remote to imitate control function, teaching reproduction capability, gesture control function three zones for robot, feature-rich.By LAN control, large range of remote control can be realized, motion is flexibly stable；Using the RE series of servo motor control machinery arm of MAXCON companies, planetary reduction gear on motor can provide high pulling torque output, stabilization drives big and weight mechanical both arms, the angular velocity information that the encoder of motor afterbody is obtained is used for the closed-loop control of mechanical arm, mechanical arm is set to obtain precise and stable attitude with reference to pid algorithm, the action and the action of operator worked it out are more like；It is recreational stronger.
Description
Technical field
The utility model is related to a kind of class humanoid robot of the motion sensing control based on Kinect, belongs to service humanoid robot
Or humanoid robot field.
Background technology
In recent years, robot technology has been widely used in Aero-Space, medical treatment, religion in continual evolution
Educate, the field such as service industry.In this process, robot is become ordinary people and can be touched by out of reach.Service-delivery machine
People is the robot of a kind of semi-autonomous or full utonomous working, and it can complete the healthy services that is beneficial to man, including welcome
Robot, educational robot.
Kinect is the external equipment of a figure perception that Microsoft specially develops for XBOX360 game machines, originally
Entitled Natal.Player is allowed using the seizure of instant dynamic, image identification, microphone input, speech recognition, the function such as community interactive
The constraint of traditional game pads is broken away from, is played by the limb control of oneself, and realized and internet player interaction, share figure
Piece, audio and video information.It is high with cost performance, from however its depth is liked by masses the advantages of comfortable visual interactive mode.
Existing service humanoid robot is more representational to be had by Japanese Ruan Yin groups and France Aldebaran
The Pepper of Robotics research and development and the NAO robots of France's Aldebaran Robotics research and development.Pepper machine human bodies
Almost, body is four feet tall, and possesses a rotating base being made up of three rollers for type and mankind's build.It can consider
Surrounding environment, and positive react.And it is equipped with speech recognition technology, the joint technology of graceful attitude is presented,
And the Emotion identification technology that analysis expression harmony is adjusted, can be exchanged with the mankind.His action is the maneuver library based on high in the clouds,
Without real-time learning by imitation function, but can quickly move, mobility and good stability, scope of activities is big.NAO robots are then
It is that a compact lovely humanoid robot, height 58cm, the both legs with class people, and NAO robots can be compiled in kinds of platform
Journey and possess an open programming framework, so different software modules can preferably interact, no matter using
How is the professional standards of person, can be NAO robotic programmings by Programming in Digital Image Processing platform, deep to receive student and researcher
Like, and the country also has the correlative study person Kinect is used in NAO robots for imitating human action.But NAO machines
Device people prevents the robot from quickly moving because build is smaller, and employs the structure design of both legs, and stability is less
It is good, it is possible that tumble phenomenon, makes the robot be only used in the medium smaller scope of family.
Utility model content
Utility model purpose of the present utility model is in view of the shortcomings of the prior art, providing a kind of body-sensing based on Kinect
The class humanoid robot of control.More natural man-machine interaction mode is introduced into service humanoid robot, and by Pepper and NAO machines
The advantage of device people is merged, and speech identifying function using Kinect realizes the switching of each function of robot, makes clothes
Business humanoid robot has more rich function, and more natural comfortable man-machine interaction mode is applied in robot, strengthens service
Robot it is recreational.
Robot described in the utility model by Kinect perceive with host computer process part, STM32 slave computers part and
The part of human-like machinery frame part three constitutes；
The Kinect is perceived includes Kinect depth transducers module, quaternary microphone array with host computer process part
Sound identification module and individual PC；
The Kinect depth transducers module is used to gather skeleton information；Sound identification module is used to gather voice
Order, for function switching；Personal PC has been then average information function served as bridge, the bone that Kinect depth transducers module is obtained
Bone information and voice messaging are sent to STM32 slave computers part by local net mode again by treatment, transfer to STM32 slave computers
Complete corresponding function；
The STM32 slave computers part includes power supply, power panel, STM32 control mainboards and servomotor controller；
After STM32 slave computers part gets the data in LAN, servomotor is controlled to act by CAN communication network；
The human-like machinery frame includes the bright nurse wheel mobile chassis of Mike, aluminium square tube body trunk skeleton, aluminium alloy head
Skeleton and five degree of freedom metal plate machinery both arms.
The bright nurse wheel mobile chassis of Mike are by four RE40 servomotors, four bright nurse wheels of Mike and hitch group
Into；Connected by shaft coupling, multi-diameter shaft, ring flange and the bright nurse wheel of the first two Mike by RE40 servomotors, latter two Mike is bright
Nurse wheel and RE40 servomotors are arranged on suspension holdfast, and suspension holdfast one end is hinged with chassis main frame, the other end and hanger
It is hinged, hanger is hinged with chassis main frame again, plays the anti-skidding effect of shock-absorbing；
The aluminium square tube body trunk skeleton is formed by aluminium square tubes soldering, including two parts, one is body bearing and bottom
Disk frame is fixed with bolt, the second is body skeleton is hinged with body bearing, and and crank, connecting rod composition crank rocker machine
Structure, power is provided by the RE35 servomotors 1 on bearing, completes holding function of bending over；
The aluminium alloy head skeleton is hinged with aluminium square tube body trunk skeleton, and drives crank and rocker mechanism by steering wheel 1
Complete nodding action；
The free degree distribution of the five degree of freedom metal plate mechanical arm is respectively one of chest makes mechanical arm be rotated around x-axis
RE35 servomotors 2, a RE35 servomotor 3 for making mechanical arm be rotated around z-axis of shoulder, ancon has two frees degree, on
Face is the RE25 servomotors 1 for making ancon lower arms be rotated around y-axis, and the wrist last arm that makes below rotates around x-axis
RE25 servomotors 2.Wrist has a wrist steering wheel for making palm be rotated around y-axis.The RE35 servomotors 2 of chest directly pass through
Shaft coupling, multi-diameter shaft drives whole mechanical arm to rotate.The output shaft adpting flange of the RE35 servomotors 3 of shoulder, flange and shoulder
Portion's frame is fixed, and RE35 servomotors 3 are connected with ancon last arm, and when motor is rotated, RE35 servomotors 3 drive oneself and elbow
Portion's last arm is rotated together.Ancon last arm is connected by thrust bearing with ancon lower arms, by the output shaft of RE25 servomotors 1
Ancon lower arms are directly driven to rotate, RE25 servomotors 1 are affixed with ancon last arm；The RE25 servomotors 2 of ancon then connect
Individual quadrant is connect, output shaft and the ancon lower arms frame of quadrant are fixed, and RE25 servomotors 2 are rotated, band
Move itself and wrist last arm is rotated, RE25 servomotors 2 are affixed with wrist last arm.Wrist steering wheel directly drives palm around y
Axle rotates.
The robot course of work described in the utility model is as follows：STM32 master control borads get and pass through LAN by host computer
After the data for sending, corresponding servomotor is controlled to rotate.Four RE40 servomotors drive the bright nurse wheel control chassis of Mike
Forward-reverse and steering.RE35 servomotors 1 rotate the bearing on body backbone winding body bearing by crank and rocker mechanism,
Completion bends over to act.Steering wheel 1 enables aluminum alloy to bearing of the head skeleton on body skeleton and rotates by crank and rocker mechanism, completes
Nodding action.The output shaft of the RE35 servomotors 2 of chest directly drives whole mechanical arm to be rotated around x-axis.The RE35 of shoulder is watched
Take motor 3 drives ancon last arm to be rotated around z-axis by reaction force.The output shaft of RE25 servomotors 1 is directly driven under ancon
Arm is rotated around y-axis.The RE25 servomotors 2 of ancon are then connected to quadrant, by reaction force drive itself and
Wrist last arm is rotated around x-axis.Wrist steering wheel then directly drives palm and is rotated around y-axis.
Robot in the utility model mainly has following function：1. real time remote imitates control function：Into
The function, you can make action before Kinect, and robot a long way off makes same action in real time, and is mounted in machine
Cam feedback on device people returns the reference information controlled as you on image to the computer screen of local environment.2. teaching reappears
Function：Into the function, you can will imitate the dance movement storage preferred in function in disk, into this in real time
Functional module can allow the robot to reproduce the action of your last stored.3. gesture control function：Into the function, you can be with profits
The forward-reverse of robot is controlled with the gesture instruction of original setting, is moved left and right, the function such as brake, the function combines remote in real time
Journey is imitated function and can realize the remote control of robot.The abundant function of the robot and natural interactive mode have fine
It is recreational.
Robot described in the utility model has advantages below：Realize that more natural interactive mode is come by Kinect
Control, realizes more accurately, flexible control, man-machine interaction is friendly；There is real time remote to imitate control function, teaching weight for robot
Existing function, gesture control function three zones, it is feature-rich.And it is more to carry out robot using the speech recognition of Kinect itself
The switching of function, it is convenient and swift.Using the bright nurse wheel chassis of Mike, robot is set to carry out comprehensive quick movement, motion is more
Plus flexibly, stabilization.Can be used for the larger outdoor control of scope of activities.Using the RE series of servo Motor controlling machines of MAXCON companies
Tool arm, the planetary reduction gear on motor can provide high pulling torque output, and stabilization drives big and weight mechanical both arms, motor afterbody
Encoder obtain angular velocity information be used for mechanical arm closed-loop control, with reference to pid algorithm make mechanical arm obtain it is precise and stable
Attitude, the action and the action of operator worked it out be more like；The build of robot is slightly larger than man's build, using aluminium
Alloy square pipe builds the skeleton of body trunk portion, and mechanical arm section is built using duralumin plate, gives people to bring powerful vision to rush
Hit, it is recreational stronger.
Brief description of the drawings
Fig. 1 is class humanoid robot's program frame figure of the motion sensing control based on Kinect in the present invention；
Fig. 2 is the inclined shaft side view of the class humanoid robot of the motion sensing control based on Kinect in the utility model；
Fig. 3 is the front view of the class humanoid robot of the motion sensing control based on Kinect in the utility model；
Fig. 4 is the right view of the class humanoid robot of the motion sensing control based on Kinect in the utility model（Remove left arm
And its motor）；
Fig. 5 is the front view of class humanoid robot's left arm of the motion sensing control based on Kinect in the utility model；
Fig. 6 is the left view of class humanoid robot's left arm of the motion sensing control based on Kinect in the utility model；
Fig. 7 is the front view on the class humanoid robot chassis of the motion sensing control based on Kinect in the utility model；
In figure：1-RE40 servomotors, the bright nurse wheel of 2- Mikes, 3- suspension holdfasts, 4- hangers, 5- chassis main frames, 6- bodies
Body skeleton, 7- body bearings, 8- RE35 servomotors 1,9- aluminium alloy head skeletons, 10- steering wheels 1,11- thrust bearings, 12-
RE35 servomotors 2,13- RE35 servomotors 3,14- RE25 servomotors 1,15- RE25 servomotors 2,16- wrist rudders
Machine, 17- flanges, 18- quadrants, 19- palms.
Specific embodiment
With reference to accompanying drawing, utility model is explained as follows：
As depicted in figs. 1 and 2, robot described in the utility model is perceived and host computer process part, STM32 by Kinect
Slave computer part and the part of human-like machinery frame part three constitute；
The Kinect is perceived includes Kinect depth transducers module, quaternary microphone array with host computer process part
Sound identification module and individual PC；
The Kinect depth transducers module is used to gather skeleton information；Sound identification module is used to gather voice
Order, for function switching；Personal PC has been then average information function served as bridge, the bone that Kinect depth transducers module is obtained
Bone information and voice messaging are sent to STM32 slave computers part by local net mode again by treatment, transfer to STM32 slave computers
Complete corresponding function；
The STM32 slave computers part includes power supply, power panel, STM32 control mainboards and servomotor controller；
After STM32 slave computers part gets the data in LAN, servomotor is controlled to act by CAN communication network；
The human-like machinery frame includes the bright nurse wheel mobile chassis of Mike, aluminium square tube body trunk skeleton, aluminium alloy head
Skeleton and five degree of freedom metal plate machinery both arms.
The bright nurse wheel mobile chassis of Mike are by four RE40 servomotors（1）With the bright nurse wheel of Mike（2）, hitch composition,
The bright nurse wheel of the first two Mike（2）By RE40 servomotors（1）By shaft coupling, multi-diameter shaft, ring flange is connected with the bright nurse wheel of Mike,
The bright nurse wheel of latter two Mike（2）With RE40 servomotors（1）Installed in suspension holdfast（3）On, suspension holdfast one end and chassis machine
Frame（5）It is hinged, the other end and hanger（4）It is hinged, hanger（4）Again with chassis main frame（5）It is hinged, plays the anti-skidding work of shock-absorbing
With.Aluminium square tube body skeleton is formed by aluminium square tubes soldering, there is two parts, and one is body bearing（7）With chassis main frame（5）With
Bolt is fixed, and two is body skeleton（6）With body bearing（7）It is hinged, and and crank, connecting rod composition crank and rocker mechanism, move
Power is by body bearing（7）On RE35 servomotors 1（8）There is provided, complete holding function of bending over.Aluminium alloy head skeleton（9）With
Body skeleton（6）It is hinged, and by steering wheel 1（10）Crank and rocker mechanism is driven to complete nodding action.Five degree of freedom metal plate mechanical arm
The free degree distribution be respectively chest a RE35 servomotor 2 for making mechanical arm be rotated around x-axis（12）, of shoulder makes
The RE35 servomotors 3 that mechanical arm rotates around z-axis（13）, ancon has two frees degree, above be to make ancon lower arms around y-axis
The RE25 servomotors 1 of rotation（14）, below be the RE25 servomotors 2 for making wrist last arm be rotated around x-axis（15）.Wrist
Having one makes palm（19）Around the wrist steering wheel that y-axis rotates（16）.The RE35 servomotors 2 of chest（12）Directly pass through shaft coupling
Device, multi-diameter shaft drives whole mechanical arm to rotate.The RE35 servomotors 3 of shoulder（13）Output shaft adpting flange（17）, flange
（17）Fixed with shoulder frame, RE35 servomotors 3（13）It is connected with ancon last arm, when motor is rotated, RE35 servomotors 3
（13）Drive is rotated oneself together with ancon last arm.Ancon last arm passes through thrust bearing（11）It is connected with ancon lower arms,
By RE25 servomotors 1（14）Output shaft directly drives ancon lower arms to rotate, RE25 servomotors 1（14）With ancon last arm
It is affixed；The RE25 servomotors 2 of ancon（15）Then it is connected to a quadrant（18）, quadrant（18）Output shaft with
Ancon lower arms frame is fixed, RE25 servomotors 2（15）Rotate, drive itself and wrist last arm to rotate, RE25 servos electricity
Machine 2（15）It is affixed with wrist last arm.Wrist steering wheel（16）Direct drive palm（19）Rotated around y-axis.
Such as Fig. 1, in one embodiment, what robot entered when starting is voice module, when receiving voice command
When " Change Mode ", speech trigger, into selection function interface, sends voice command " imitating function in real time " and enters real-time
Module is imitated, Kinect starts to obtain skeleton point information, the depth information obtained by personal PC ends treatment Kinect is utilized
Absolute coordinate of each skeleton point in Kinect coordinate systems calculates the anglec of rotation of each joint motor, by LAN send to
STM32 slave computers, STM32 is communicated by CAN and sends each servomotor anglec of rotation according to No. ID of servomotor.
RE35 servomotors 1（8）Body skeleton is made by crank and rocker mechanism（6）On body bearing（7）Bearing rotate, complete it is curved
Waist is acted.Steering wheel 1（10）Head skeleton is enabled aluminum alloy to by crank and rocker mechanism（9）Around body skeleton（6）On bearing rotate,
Complete nodding action.The RE35 servomotors 2 of chest（12）Output shaft directly drive whole mechanical arm around x-axis rotate.Shoulder
RE35 servomotors 3（13）Ancon last arm is driven to be rotated around z-axis by reaction force.RE25 servomotors 1（14）Output
Axle directly drives ancon lower arms to be rotated around y-axis.The RE25 servomotors 2 of ancon（15）Then it is connected to a quadrant
（18）, drive itself and wrist last arm to be rotated around x-axis by reaction force.Wrist steering wheel（16）Then directly drive palm（19）
Rotated around y-axis.Complete to imitate function in real time.
Such as Fig. 1, in one embodiment, what robot entered when starting is voice module, when receiving voice command
When " Change Mode ", speech trigger, into selection function interface, sends voice command " teaching playback function " and enters teaching
Rendering module, Kinect starts to obtain skeleton point information, and Coordinate Conversion is completed by personal PC ends, is existed using each skeleton point
Absolute coordinate in Kinect coordinate systems calculates the anglec of rotation of each joint motor, and by these angle informations with time chain side
Formula record deposit into buffering area, if during have voice command " Save Action ", the information of buffering area is stored in personal PC's
Disk, if during have voice command " End Save ", clear buffer, time delay is again introduced into mode of learning after 3 seconds.
After " Save Action " order has been performed, robot arm is first reset to original state, and then individual PC passes through LAN by magnetic
Motor angle in disk is sent to STM32 slave computers, and STM32 is communicated by CAN and send each according to No. ID of servomotor
The individual servomotor anglec of rotation.RE35 servomotors 1（8）Body skeleton is made by crank and rocker mechanism（6）On body bearing
（7）Bearing rotate, completion bend over action.Steering wheel 1（10）Head skeleton is enabled aluminum alloy to by crank and rocker mechanism（9）Around body
Skeleton（6）On bearing rotate, complete nodding action.The RE35 servomotors 2 of chest（12）Output shaft directly drive entirely
Mechanical arm is rotated around x-axis.The RE35 servomotors 3 of shoulder（13）Ancon last arm is driven to be rotated around z-axis by reaction force.
RE25 servomotors 1（14）Output shaft directly drives ancon lower arms to be rotated around y-axis.The RE25 servomotors 2 of ancon（15）Then
It is connected to a quadrant（18）, drive itself and wrist last arm to be rotated around x-axis by reaction force.Wrist steering wheel（16）
Then directly drive palm（19）Rotated around y-axis.Robot constantly repeats to make the action message of this storage, until there is voice again
Trigger command is input into.Complete teaching reproduction capability.
Such as Fig. 1, in one embodiment, what robot entered when starting is voice module, when receiving voice command
When " Change Mode ", speech trigger, into selection function interface, sends voice command " gesture control function " and enters gesture
Control module module, Kinect starts to obtain skeleton point information, and STM32 master control borads get and pass through LAN by host computer
After the data for sending, corresponding servomotor is controlled to rotate.Four RE40 servomotors（1）Drive the bright nurse wheel control chassis of Mike
Forward-reverse with turn to.When being lifted on operator's left hand, the right hand is sagging, four RE40 servomotors（1）Rotate forward, before robot
Enter；When operator's left hand is sagging, lifted on the right hand, four RE40 servomotors（1）Invert, robot is retreated；When operator is left
Hand, when the right hand is sagging, four RE40 servomotors（1）Equal self-locking, robot starts brake and stops；When operator's left hand to the left
Flattened, the centre of the palm is opened forward, when the right hand is sagging, left front and right back RE40 servomotors（1）Reversion retrogressing, left back and the right side
Front RE40 servomotors（1）Rotate forward and advance, robot translation to the left；When operator's left hand is flattened to the left, fist is held with a firm grip, the right hand
When sagging, left front and left back RE40 servomotors（1）Reversion retrogressing, right front and right back RE40 servomotors（1）Just
Turn to advance, robot turns left；When operator's right hand is flattened to the right, the centre of the palm is opened forward, when left hand is sagging, left front and the right side
Rear RE40 servomotors（1）Rotate forward advance, left back and right front RE40 servomotors（1）Reversion is retreated, and robot is to the right
Translation.When operator's right hand is flattened to the right, fist is held with a firm grip, when left hand is sagging, right front and right back RE40 servomotors（1）Instead
Turn retrogressing, left front and left back RE40 servomotors（1）Rotate forward and advance, robot turns right.Complete gesture control function.
Claims (5)
1. a kind of class humanoid robot of the motion sensing control based on Kinect, it is characterised in that：The robot is felt by Kinect
Know and constituted with host computer process part, STM32 slave computers part and the part of human-like machinery frame part three；
The Kinect is perceived includes Kinect depth transducers module, quaternary Microphone Array Speech with host computer process part
Identification module and individual PC；
The STM32 slave computers part includes power supply, power panel, STM32 control mainboards and servomotor controller；
The human-like machinery frame includes the bright nurse wheel mobile chassis of Mike, aluminium square tube body trunk skeleton, aluminium alloy head skeleton
With five degree of freedom metal plate machinery both arms.
2. the class humanoid robot of a kind of motion sensing control based on Kinect according to claim 1, it is characterised in that：Institute
The bright nurse wheel mobile chassis of Mike are stated to be made up of four RE40 servomotors, four bright nurse wheels of Mike and hitch；Watched by RE40
Take motor to be connected by shaft coupling, multi-diameter shaft, ring flange and the bright nurse wheel of the first two Mike, the bright nurse wheel of latter two Mike is watched with RE40
Motor is taken on suspension holdfast, suspension holdfast one end is hinged with chassis main frame, and the other end is hinged with hanger, and hanger is again
It is hinged with chassis main frame.
3. the class humanoid robot of a kind of motion sensing control based on Kinect according to claim 1, it is characterised in that：Institute
Aluminium square tube body trunk skeleton is stated to be formed by aluminium square tubes soldering, including two parts, one is body bearing and chassis main frame spiral shell
Bolt is fixed, the second is body skeleton is hinged with body bearing, and and crank, connecting rod composition crank and rocker mechanism.
4. the class humanoid robot of a kind of motion sensing control based on Kinect according to claim 1, it is characterised in that：Institute
Aluminium alloy head skeleton is stated to be hinged with aluminium square tube body trunk skeleton.
5. the class humanoid robot of a kind of motion sensing control based on Kinect according to claim 1, it is characterised in that：Institute
The free degree distribution for stating five degree of freedom metal plate mechanical arm is respectively a RE35 servomotor (2) rotated around x-axis of chest, shoulder
The RE35 servomotors (3) that of portion rotates around z-axis, ancon has upper and lower two frees degree, above be to be rotated around y-axis
RE25 servomotors (1), below be the RE25 servomotors (2) rotated around x-axis, wrist has a steering wheel rotated around y-axis
(2), the RE35 servomotors (2) of chest are directly driven with multi-diameter shaft by shaft coupling and entirely rolled over, and the RE35 of shoulder is watched
The output shaft adpting flange of motor (3) is taken, flange is fixed with shoulder frame, RE35 servomotors (3) are connected with ancon last arm,
Ancon last arm is connected by thrust bearing with ancon lower arms, and RE25 servomotors (1) are affixed with ancon last arm；Ancon
RE25 servomotors (2) are then connected to a quadrant, and output shaft and the ancon lower arms of quadrant are fixed, and RE25 is watched
Take motor (2) affixed with wrist last arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621113941.7U CN206263965U (en) | 2016-10-12 | 2016-10-12 | A kind of class humanoid robot of the motion sensing control based on Kinect |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621113941.7U CN206263965U (en) | 2016-10-12 | 2016-10-12 | A kind of class humanoid robot of the motion sensing control based on Kinect |
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ID=59037611
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443396A (en) * | 2017-08-25 | 2017-12-08 | 魔咖智能科技（常州）有限公司 | A kind of intelligence for imitating human action in real time accompanies robot |
| CN108527381A (en) * | 2018-04-09 | 2018-09-14 | 上海方立数码科技有限公司 | A kind of service humanoid robot based on gesture recognition |
| CN108656136A (en) * | 2018-08-17 | 2018-10-16 | 广州市君望机器人自动化有限公司 | mechanical arm and law enforcement robot |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN109895113A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot thoracic cavity skeleton and robot |
-
2016
- 2016-10-12 CN CN201621113941.7U patent/CN206263965U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107443396A (en) * | 2017-08-25 | 2017-12-08 | 魔咖智能科技（常州）有限公司 | A kind of intelligence for imitating human action in real time accompanies robot |
| CN108724209A (en) * | 2017-11-30 | 2018-11-02 | 北京建筑大学 | A kind of ten degree of freedom double mechanical arms structure of providing for the aged and nursing robot |
| CN108527381A (en) * | 2018-04-09 | 2018-09-14 | 上海方立数码科技有限公司 | A kind of service humanoid robot based on gesture recognition |
| CN109465803A (en) * | 2018-06-25 | 2019-03-15 | 中国人民解放军第二军医大学 | Tow-armed robot system of subject |
| CN108656136A (en) * | 2018-08-17 | 2018-10-16 | 广州市君望机器人自动化有限公司 | mechanical arm and law enforcement robot |
| CN109895113A (en) * | 2019-03-01 | 2019-06-18 | 达闼科技（北京）有限公司 | A kind of robot thoracic cavity skeleton and robot |
| CN109895113B (en) * | 2019-03-01 | 2020-10-16 | 达闼科技（北京）有限公司 | Robot thorax skeleton and robot |
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