CN213471194U - Novel multifunctional humanoid robot platform and control system thereof - Google Patents
Novel multifunctional humanoid robot platform and control system thereof Download PDFInfo
- Publication number
- CN213471194U CN213471194U CN202020399314.4U CN202020399314U CN213471194U CN 213471194 U CN213471194 U CN 213471194U CN 202020399314 U CN202020399314 U CN 202020399314U CN 213471194 U CN213471194 U CN 213471194U
- Authority
- CN
- China
- Prior art keywords
- mechanical
- control
- platform
- control circuit
- communication bus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000004891 communication Methods 0.000 claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims abstract description 31
- 239000011664 nicotinic acid Substances 0.000 claims abstract description 30
- 210000000245 forearm Anatomy 0.000 claims abstract description 25
- 239000002184 metal Substances 0.000 claims description 26
- 241000282414 Homo sapiens Species 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
A novel multifunctional humanoid robot platform and a control system thereof comprise a multifunctional humanoid robot hardware platform and a multifunctional humanoid robot control system; the multifunctional hardware platform of the humanoid robot comprises an omnidirectional moving chassis, a liftable platform and a pair of bionic mechanical arms, wherein the liftable platform is arranged on the omnidirectional moving chassis; the bionic mechanical double arms are arranged on the lifting platform; the multifunctional humanoid robot control system comprises a communication bus part, a core control circuit, an omnidirectional movement chassis control circuit, a liftable platform control circuit, a mechanical forearm controller and a mechanical forearm controller, wherein the communication bus part is respectively connected with the core control circuit, the omnidirectional movement chassis control circuit, the liftable platform control circuit, the mechanical forearm controller and the mechanical forearm controller. The utility model discloses multifunctionality, commonality and operation friendly nature.
Description
Technical Field
The utility model relates to a machinery and automated control field are a novel multi-functional type of people's robot platform and control system thereof.
Background
In the current society, with the rapid development of electronic information technology, people can order machines to help people to finish some heavy things according to own wishes, meanwhile, the somatosensory technology is rapidly developed, and data acquisition of human body action postures is increasingly convenient and accurate.
The traditional robot has single function, heavy body and complex operation, does not conform to the human-oriented core, and is difficult to synchronously reproduce the human action in real time. The modern society urgently needs a novel multifunctional bionic robot platform, and on the basis of conforming to the basic structure of a human body, the action posture of a user can be accurately synchronously reproduced on the bionic robot platform through the motion sensing technology. The multifunctional bionic robot platform can complete refined actions which can be achieved by most of human beings, and even can complete actions which can not be borne by human joints through a specific program. Can replace people to go to certain high-risk or places where specific people can not reach to carry out operation.
Disclosure of Invention
The robot platform aims to overcome the defects of single function, heavy size and complex operation of the traditional robot platform. The utility model relates to a novel multifunctional bionic robot platform with multifunction, universality and operation friendliness and a control system thereof, wherein the platform roughly divides the whole platform into five parts, namely an omnidirectional moving chassis, a liftable platform, two bionic mechanical arms, a core control circuit and a control system. Through design and combination to each part, really realized the utility model discloses a multifunctionality, commonality and operation friendliness, the utility model discloses can be applied to the operation of preprogrammed of many in automated production and the daily life and man-machine synchronization operation.
The utility model provides a technical scheme that its technical problem adopted is:
a novel multifunctional humanoid robot platform and a control system thereof comprise a multifunctional humanoid robot hardware platform and a multifunctional humanoid robot control system;
the multifunctional hardware platform of the humanoid robot comprises an omnidirectional moving chassis, a liftable platform and a pair of bionic mechanical arms, wherein the liftable platform is arranged on the omnidirectional moving chassis; the bionic mechanical double arms are arranged on the lifting platform;
the multifunctional humanoid robot control system comprises a communication bus part, a core control circuit, an omnidirectional movement chassis control circuit, a liftable platform control circuit, a mechanical forearm controller and a mechanical forearm controller, wherein the communication bus part is respectively connected with the core control circuit, the omnidirectional movement chassis control circuit, the liftable platform control circuit, the mechanical forearm controller and the mechanical forearm controller.
Furthermore, the omnidirectional movement chassis is composed of a control circuit part and a mechanical part, wherein the control circuit part mainly comprises a control chip and a 4-way H bridge, and an STM32F031 single chip microcomputer is adopted as the control chip. The mechanical part mainly comprises a motor, a Mecanum wheel and a metal frame, wherein the motor is connected with a 4-way H bridge in the control circuit.
Still further, liftable platform comprises control circuit part and mechanical part two parts, and the control circuit part mainly contains control chip and one way H bridge and constitutes, and wherein control chip adopts STM32F030 singlechip, and control chip links to each other with one way H bridge. The mechanical part mainly comprises a metal main body frame, a metal platform and a spiral push rod, wherein the spiral push rod is connected with the metal main body frame, and the metal platform is connected with the spiral push rod. The single-way H bridge of the control circuit part is connected with the spiral push rod of the mechanical part.
Furthermore, the bionic mechanical arm is composed of a mechanical rear arm and a mechanical front arm, the mechanical rear arm and the mechanical front arm both adopt bionic human double-arm structures, control chips are mounted inside the mechanical rear arm and the mechanical front arm, the control chips adopt STM32F103 single chips, the mechanical rear arm is connected with the mechanical front arm, a connection structure is adopted at the connection position of the mechanical rear arm and the mechanical front arm, therefore, the mechanical front arm can be replaced by other functional equipment to be connected with the mechanical rear arm as a front arm, the mechanical rear arm is connected with a metal platform of a liftable platform, meanwhile, all parts of the control chips of the bionic mechanical arm are connected with the single chips in a core control circuit through a communication bus, and then control commands are received.
The communication bus part comprises a bus and a bus controller, the bus adopts a serial communication bus which accords with an RS485 communication level standard, the bus controller adopts STM32F103 as a control chip, the bus controller is responsible for managing the communication of each device on the communication bus, and the communication rule of the communication bus is as follows:
1) each device mounted on the communication bus must have a unique name, and the names of any two devices cannot be the same;
2) the bus controller polls names of all the devices through the bus, when reading the names of the devices on the bus, the devices can issue data through the bus, when all the data are issued or the devices do not issue data, an end mark needs to be issued, when the bus controller reads the end mark through the bus or when the bus controller polls the names of the devices for a period of time and does not detect that the data are issued on the bus, the bus controller polls the names of the next devices continuously;
3) the data issued by each device needs to include two parts, namely a data name and a data value;
4) when each device is not polled by the bus controller, each device can read the data issued on the bus, but cannot issue the data using the bus;
5) there is no master-slave distinction between the devices in principle, each device realizes the reception of commands and data by paying attention to the specific data issued by the specific device, and each device realizes the transmission of commands and data by issuing data.
Still further, the core control circuit is composed of a Linux core board and a single chip microcomputer module, the core control circuit is used for receiving, storing and processing control programs and commands of users and controlling, allocating and monitoring the working states of all the parts, the Linux core board is connected with the single chip microcomputer through a high-speed SPI bus, the single chip microcomputer adopts an STM32H750 single chip microcomputer, the Linux core board can store and process pre-programmed programs of the users and receive original commands issued by the users, processing results are transmitted to the single chip microcomputer, the single chip microcomputer transmits all the commands to other parts through a communication bus according to requirements, and meanwhile the core control circuit has a unique name in the communication bus.
Omni-directional movement chassis control circuit includes control chip and 4 way H bridges, wherein adopts STM32F031 singlechip to be control chip, control chip and 4 way H bridges, and the control chip on omni-directional movement chassis utilizes the communication bus in with the core control circuit singlechip to link to each other to receive control command, and the rotational speed of each motor on omni-directional movement chassis in the 4 way H bridge control hardware platform of drive, and then control the utility model discloses omnidirectional movement on the plane. Meanwhile, the omnidirectional mobile chassis control circuit has a unique name in a communication bus.
The lifting platform control circuit comprises a control chip and a one-way H bridge, wherein the control chip adopts an STM32F030 single chip microcomputer, the control chip is connected with the one-way H bridge, and the control chip of the lifting platform is connected with the single chip microcomputer in the core control circuit by using a communication bus so as to receive a control command and drive the one-way H bridge to control the lifting of a lifting platform spiral push rod in the hardware platform, thereby realizing the lifting of two arms; meanwhile, the liftable platform control circuit has a unique name in the communication bus.
Machinery forearm controller adopts STM32F103 singlechip as control chip, singlechip utilizes communication bus to link to each other in control chip and the core control circuit to receive control command, and the rotation of each steering wheel of machinery forearm among the control hardware platform to appointed angle, and then realize the utility model discloses the free motion of machinery forearm, simultaneously, machinery forearm controller possess unique name in communication bus.
Machinery back arm controller adopts STM32F103 singlechip as control chip, singlechip utilizes communication bus to link to each other in control chip and the core control circuit to receive control command, and the rotation of each steering wheel of machinery back arm in the control hardware platform to appointed angle, and then realize the utility model discloses the free motion of machinery back arm, simultaneously, machinery back arm controller possess unique name in communication bus.
The utility model discloses a multi-functional humanoid robot control system control flow as follows: the user can control the novel multifunctional bionic robot platform by preprogramming the core control circuit and sending a control command; the core control circuit sends control commands to other parts through the communication bus; after each part receives a control command, each action is executed as required, the control command is uploaded to a core control circuit by using a communication bus for gathering, and meanwhile, data return of the novel multifunctional bionic robot platform to a user is realized as required; thereby finally completing the work of executing specific pre-programmed actions, human body action reproduction, remote man-machine synchronization and the like.
The utility model has the advantages of that: the utility model discloses can be applied to the most pre-programmed operation in automated production and the daily life. The motion gesture of a user can be accurately and synchronously reproduced on the bionic robot platform through the motion sensing technology by utilizing the motion sensing interaction technology, so that remote man-machine synchronous operation is performed. And further can replace people to go to certain high-risk or places where specific people can not reach to work.
Drawings
Fig. 1 is a block diagram of the present invention.
Fig. 2 is the whole three-view of the hardware platform of the present invention.
Fig. 3 is a block diagram of a core control circuit.
Fig. 4 is a block diagram of the structure of the omnidirectional mobile chassis.
Fig. 5 is a three-view of the omni-directional mobile chassis.
Fig. 6 is a block diagram of a liftable platform structure.
Fig. 7 is a three-view of the liftable platform.
Fig. 8 is a structural block diagram of the bionic mechanical arm.
Fig. 9 is a three-view of the bionic mechanical arm.
FIG. 10 is a block diagram of a communication bus architecture.
Fig. 11 is a flowchart of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings:
referring to fig. 1 to 11, a novel multifunctional humanoid robot platform and a control system thereof comprise a multifunctional humanoid robot hardware platform and a multifunctional humanoid robot control system;
the multifunctional hardware platform of the humanoid robot comprises an omnidirectional moving chassis, a liftable platform and a pair of bionic mechanical arms, wherein the liftable platform is arranged on the omnidirectional moving chassis; the bionic mechanical double arms are arranged on the lifting platform;
the multifunctional humanoid robot control system comprises a communication bus part, a core control circuit, an omnidirectional movement chassis control circuit, a liftable platform control circuit, a mechanical forearm controller and a mechanical forearm controller, wherein the communication bus part is respectively connected with the core control circuit, the omnidirectional movement chassis control circuit, the liftable platform control circuit, the mechanical forearm controller and the mechanical forearm controller.
The core control circuit is respectively connected with other parts of the platform by using the communication bus, and can also be connected with other functional equipment loaded on the platform by using the communication bus.
As shown in fig. 2, the liftable platform is arranged on the omnidirectional moving chassis; the bionic mechanical double arms are arranged on the lifting platform;
as shown in FIG. 3, the core control circuit is composed of two parts, namely a Linux core board and a single chip microcomputer module. The core control circuit is used for receiving, storing and processing the control program and the command of the user, controlling and allocating and monitoring the working state of each part of the utility model. The Linux core board is connected with the single chip microcomputer through a high-speed SPI bus. The singlechip adopts an STM32H750 singlechip. The Linux core board can store and process the pre-programmed program of the user, receive the original command issued by the user and transmit the processing result to the single chip microcomputer. The single chip microcomputer transmits each command to other parts of the utility model by using the communication bus according to the requirement. Meanwhile, the core control circuit has a unique name in the communication bus.
As shown in fig. 4, the omnidirectional moving chassis is composed of a control circuit part and a mechanical part. The control circuit part mainly comprises a control chip and a 4-path H bridge, wherein an STM32F031 single chip microcomputer is adopted as the control chip, and the control chip and the 4-path H bridge are adopted. The mechanical part mainly comprises a motor, a Mecanum wheel and a metal frame, wherein the motor is connected with a 4-way H bridge in the control circuit. Control chip on omnidirectional movement chassis and core control circuit singlechip utilize the communication bus to link to each other to receive control command, and drive the rotational speed of each motor in 4 way H bridge control omnidirectional movement chassis, and then control the utility model discloses omnidirectional movement on the plane. Meanwhile, the omnidirectional mobile chassis control circuit has a unique name in a communication bus.
As shown in FIG. 5, the mechanical part of the omnidirectional moving chassis consists of a motor II, Mecanum wheels I and a metal frame III. Each motor is arranged on the metal frame, and each Mecanum wheel is arranged on each motor.
As shown in FIG. 6, the liftable platform is composed of a control circuit part and a mechanical part. The control circuit part mainly comprises a control chip and a one-way H bridge, wherein the control chip adopts an STM32F030 single chip microcomputer, and the control chip is connected with the one-way H bridge. The mechanical part mainly comprises a metal main body frame, a metal platform and a spiral push rod, wherein the spiral push rod is connected with the metal main body frame, and the metal platform is connected with the spiral push rod. The single-way H bridge of the control circuit part is connected with the spiral push rod of the mechanical part. But lifting platform's control chip utilizes communication bus to link to each other with singlechip in the core control circuit to receive control command, and drive one way H bridge control lifting platform spiral push rod's lift, and then realize the utility model discloses the lift of both arms. Meanwhile, the liftable platform control circuit has a unique name in the communication bus.
As shown in FIG. 7, the mechanical part of the liftable platform consists of a metal main body frame I, a metal platform II and a spiral push rod III. The spiral push rod is arranged on the metal main body frame, the metal platform is arranged on the spiral push rod, and the metal platform is connected with the metal main body frame through a pulley.
As shown in FIG. 8, the bionic mechanical arm consists of a mechanical rear arm and a mechanical front arm. The mechanical rear arm and the mechanical front arm both adopt bionic human double-arm structures, wherein control chips are installed inside the mechanical rear arm and the mechanical front arm, and the control chips adopt STM32F103 single-chip microcomputers. The mechanical rear arm is connected with the mechanical front arm, and a special connecting structure is adopted at the connecting position of the mechanical rear arm and the mechanical front arm, so that the mechanical front arm can be replaced by other functional equipment to be connected with the mechanical rear arm as a front arm. The mechanical rear arm is connected with a metal platform of the lifting platform. Each control chip utilizes communication bus to link to each other with singlechip in the core control circuit to receive control command, and control the rotation to the appointed angle of each steering wheel of bionical arm, and then realize the utility model discloses the free motion of bionical arm. Meanwhile, the mechanical front (rear) arm controller has a unique name in the communication bus.
As shown in FIG. 9, the bionic mechanical arm consists of a mechanical rear arm (i) and a mechanical front arm (ii). The shoulder joint and the elbow joint in the mechanical rear arm are mainly composed of three or single large kilogram steering engines. The middle wrist joint and the mechanical claw of the mechanical forearm are mainly composed of three steering engines and a single steering engine. Wherein the rear mechanical arm and the front mechanical arm are connected by a connecting structure (c).
As shown in fig. 10, the communication bus portion is composed of a bus and a bus controller. The bus adopts a serial communication bus conforming to the RS485 communication level standard. The bus controller adopts STM32F103 as a control chip and is responsible for managing the communication of each device on the communication bus. The communication rule of the communication bus is as follows:
1) each device mounted on the communication bus must have a unique name, and the names of any two devices cannot be the same;
2) the bus controller polls names of all the devices through the bus, when reading the names of the devices on the bus, the devices can issue data through the bus, when all the data are issued or the devices do not issue data, an end mark needs to be issued, when the bus controller reads the end mark through the bus or when the bus controller polls the names of the devices for a period of time and does not detect that the data are issued on the bus, the bus controller polls the names of the next devices continuously;
3) the data issued by each device needs to include two parts, namely a data name and a data value;
4) when each device is not polled by the bus controller, each device can read the data issued on the bus, but cannot issue the data using the bus;
5) there is no master-slave distinction between the devices in principle, each device realizes the reception of commands and data by paying attention to the specific data issued by the specific device, and each device realizes the transmission of commands and data by issuing data.
As shown in FIG. 11, the user can control the novel multifunctional bionic robot platform by pre-programming the core control circuit and sending control commands. The core control circuit sends control commands to other parts through the communication bus. After each part receives the control command, each action is executed as required, the communication bus is used for uploading to the core control circuit for gathering, and meanwhile, the novel multifunctional bionic robot platform is used for returning data to a user as required. Thereby finally completing the work of executing specific pre-programmed actions, human body action reproduction, remote man-machine synchronization and the like.
Claims (10)
1. A novel multifunctional humanoid robot platform and a control system thereof are characterized in that the novel multifunctional humanoid robot platform and the control system thereof comprise a multifunctional humanoid robot hardware platform and a multifunctional humanoid robot control system;
the multifunctional hardware platform of the humanoid robot comprises an omnidirectional moving chassis, a liftable platform and a pair of bionic mechanical arms, wherein the liftable platform is arranged on the omnidirectional moving chassis; the bionic mechanical double arms are arranged on the lifting platform;
the multifunctional humanoid robot control system comprises a communication bus part, a core control circuit, an omnidirectional movement chassis control circuit, a liftable platform control circuit, a mechanical forearm controller and a mechanical forearm controller, wherein the communication bus part is respectively connected with the core control circuit, the omnidirectional movement chassis control circuit, the liftable platform control circuit, the mechanical forearm controller and the mechanical forearm controller.
2. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 1, wherein the omnidirectional movement chassis is composed of a control circuit part and a mechanical part, the control circuit part mainly comprises a control chip and 4H-bridges, wherein an STM32F031 single chip microcomputer is adopted as the control chip, the mechanical part mainly comprises a motor, mecanum wheels and a metal frame, and the motor is connected with the 4H-bridges in the control circuit.
3. A novel multifunctional humanoid robot platform and a control system thereof as claimed in claim 1 or 2, characterized in that the liftable platform is composed of a control circuit part and a mechanical part, the control circuit part mainly comprises a control chip and a one-way H bridge, wherein the control chip adopts an STM32F030 single chip microcomputer, the control chip is connected with the one-way H bridge, the mechanical part mainly comprises a metal main body frame, a metal platform and a spiral push rod, the spiral push rod is connected with the metal main body frame, the metal platform is connected with the spiral push rod, and the one-way H bridge of the control circuit part is connected with the spiral push rod of the mechanical part.
4. A novel multifunctional humanoid robot platform and a control system thereof as claimed in claim 1 or 2, characterized in that the bionic mechanical arm is composed of two parts of a mechanical rear arm and a mechanical front arm, the mechanical rear arm and the mechanical front arm both adopt bionic human double-arm structures, control chips are installed in the mechanical rear arm and the mechanical front arm, the control chips adopt STM32F103 singlechips, the mechanical rear arm is connected with the mechanical front arm, a connection structure is adopted at the connection part of the mechanical rear arm and the mechanical front arm, therefore, the mechanical front arm can be replaced by other functional equipment to be connected with the mechanical rear arm as the front arm, the mechanical rear arm is connected with a metal platform of a liftable platform, and meanwhile, each part of the control chips of the bionic mechanical arm is connected with the singlechips in a core control circuit by using a communication bus to receive control commands.
5. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 1 or 2, characterized in that the communication bus part is composed of a bus and a bus controller, the bus adopts a serial communication bus conforming to RS485 communication level standard, the bus controller adopts STM32F103 as a control chip, and the bus controller is responsible for managing communication of each device on the communication bus.
6. The new multifunctional humanoid robot platform and the control system thereof as claimed in claim 1 or 2, characterized in that the core control circuit is composed of two parts, i.e. a Linux core board and a single chip microcomputer module, the core control circuit is used for receiving, storing and processing the control program and command of the user, controlling, allocating and monitoring the working state of each part, the Linux core board is connected with the single chip microcomputer by using a high-speed SPI bus, the single chip microcomputer adopts an STM32H750 single chip microcomputer, the Linux core board can store and process the pre-programmed program of the user and receive the original command issued by the user, and transmit the processing result to the single chip microcomputer, the single chip microcomputer transmits each command to other parts by using a communication bus as required, and meanwhile, the core control circuit has a unique name in the communication bus.
7. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 2, characterized in that the omnidirectional movement chassis control circuit includes a control chip and 4H bridges, wherein an STM32F031 single chip microcomputer is adopted as the control chip, the control chip is connected with the 4H bridges, the control chip of the omnidirectional movement chassis is connected with the single chip microcomputer in the core control circuit by a communication bus, so as to receive the control command and drive the 4H bridges to control the rotation speed of each motor of the omnidirectional movement chassis in the hardware platform, thereby controlling omnidirectional movement on the plane, and meanwhile, the omnidirectional movement chassis control circuit has a unique name in the communication bus.
8. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 3, characterized in that the liftable platform control circuit comprises a control chip and a one-way H bridge, wherein the control chip adopts an STM32F030 single chip microcomputer, the control chip is connected with the one-way H bridge, the control chip of the liftable platform is connected with the one-way H bridge singlechip microcomputer in the core control circuit by a communication bus, so as to receive a control command and drive the one-way H bridge to control the lifting of the spiral push rod of the liftable platform in the hardware platform, thereby realizing the lifting of both arms; meanwhile, the liftable platform control circuit has a unique name in the communication bus.
9. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 4, characterized in that the mechanical forearm controller uses STM32F103 singlechip as control chip, the control chip is connected with the singlechip in the core control circuit by communication bus, thereby receiving control command and controlling the rotation of each steering engine of the mechanical forearm in the hardware platform to a specified angle, further realizing the free movement of the mechanical forearm, and meanwhile, the mechanical forearm controller has a unique name in the communication bus.
10. The novel multifunctional humanoid robot platform and the control system thereof as claimed in claim 4, characterized in that the mechanical rear arm controller adopts STM32F103 singlechip as control chip, the control chip is connected with the singlechip in the core control circuit by communication bus, so as to receive control command and control the rotation of each steering engine of the mechanical rear arm in the hardware platform to a specified angle, thereby realizing the free motion of the mechanical rear arm, and meanwhile, the mechanical rear arm controller has a unique name in the communication bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020399314.4U CN213471194U (en) | 2020-03-25 | 2020-03-25 | Novel multifunctional humanoid robot platform and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020399314.4U CN213471194U (en) | 2020-03-25 | 2020-03-25 | Novel multifunctional humanoid robot platform and control system thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213471194U true CN213471194U (en) | 2021-06-18 |
Family
ID=76389766
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020399314.4U Active CN213471194U (en) | 2020-03-25 | 2020-03-25 | Novel multifunctional humanoid robot platform and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213471194U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390907A (en) * | 2020-03-25 | 2020-07-10 | 浙江工业大学 | Novel multifunctional humanoid robot platform and control system thereof |
-
2020
- 2020-03-25 CN CN202020399314.4U patent/CN213471194U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390907A (en) * | 2020-03-25 | 2020-07-10 | 浙江工业大学 | Novel multifunctional humanoid robot platform and control system thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101592951B (en) | Common distributed control system for humanoid robot | |
| CN103192390B (en) | Control system of humanoid robot | |
| CN101373380B (en) | Humanoid robot control system and robot controlling method | |
| CN102179815B (en) | CANopen (Controller Area Network open)-based distributed type modularized mechanical arm system | |
| CN101216711A (en) | Amphibious mechanical crab step control device and control method | |
| CN101504546B (en) | Children robot posture tracking apparatus | |
| CN103895022A (en) | Wearable type somatosensory control mechanical arm | |
| CN103786157A (en) | Embedded type control system based on upper limb exoskeleton assisting robots | |
| CN213471194U (en) | Novel multifunctional humanoid robot platform and control system thereof | |
| CN107253203A (en) | Multimode Intelligent toy collects robot | |
| CN204856222U (en) | Omnidirectional movement platform control system based on internet of things | |
| CN102360190A (en) | Humanoid robot control system | |
| CN202257212U (en) | Humanoid robot control system | |
| CN102830644B (en) | Five-axis high-speed dispensing robot servo control system | |
| CN203185348U (en) | Anthropomorphic robot control system | |
| CN108772839B (en) | Master-slave operation and man-machine integrated system | |
| CN102126220A (en) | Control system for six-degree-of-freedom mechanical arm of humanoid robot based on field bus | |
| CN101973034A (en) | Robot controlled circuit | |
| CN203306138U (en) | Quasi-man biped robot based on hydraulic system | |
| CN111390907A (en) | Novel multifunctional humanoid robot platform and control system thereof | |
| CN108466266A (en) | Mechanical arm motion control method and system | |
| CN205097191U (en) | Arm drive module , robot configuration drive and control system | |
| CN207747048U (en) | A kind of transfer robot control device of household | |
| CN217195344U (en) | Gesture recognition control mechanical arm robot based on Beidou positioning system | |
| CN205721358U (en) | Robot and control system thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |