KR20110139839A - Small jumping robot actuated by shape memory alloy - Google Patents

Small jumping robot actuated by shape memory alloy Download PDF

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Publication number
KR20110139839A
KR20110139839A KR1020100059904A KR20100059904A KR20110139839A KR 20110139839 A KR20110139839 A KR 20110139839A KR 1020100059904 A KR1020100059904 A KR 1020100059904A KR 20100059904 A KR20100059904 A KR 20100059904A KR 20110139839 A KR20110139839 A KR 20110139839A
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KR
South Korea
Prior art keywords
shape memory
memory alloy
link
body frame
jumping
Prior art date
Application number
KR1020100059904A
Other languages
Korean (ko)
Inventor
이상윤
호탐탄
Original Assignee
건국대학교 산학협력단
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Priority to KR1020100059904A priority Critical patent/KR20110139839A/en
Publication of KR20110139839A publication Critical patent/KR20110139839A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
    • H01R4/00—Electrically-conductive connections between two or more conductive members in direct contact, i.e. touching one another; Means for effecting or maintaining such contact; Electrically-conductive connections having two or more spaced connecting locations for conductors and using contact members penetrating insulation
    • H01R4/01—Connections using shape memory materials, e.g. shape memory metal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE: A small jumping and moving robot driven by shape memory alloy is provided to be moved while jumping without the use of an electric motor by transforming the shape memory alloy through the transmission of an electric signal. CONSTITUTION: A small jumping and moving robot driven by shape memory alloy comprises a body frame(110), a shape memory alloy wire(122) and four leg units. The shape memory alloy wire is installed in the body frame. According to the characteristic of power, the shape memory alloy wire expands and contracts the wire. The four leg units are connected to the body frame. The four leg units changes the contraction and expansion motion of the shape memory alloy wire into the jumping motion.

Description

Small jumping robot actuated by shape memory alloy

The present invention relates to a small jumping mobile robot of a shape memory alloy driving method, and more particularly, a general mobile device such as an electric motor as a small mobile robot consisting of four legs that can be moved by a jumping method using a plurality of links. The present invention relates to a small-sized jumping mobile robot of a shape memory alloy driving method, which is capable of being deformed by applying an electrical signal to the shape memory alloy to move while jumping in a predetermined range.

With the development of robot technology, a mobile robot capable of moving by itself has emerged, and such a mobile robot has been used in various fields. For example, robots performing various tasks such as cleaning robots and surveillance robots have emerged.

Such a bridge moving robot is another important strength of the bridge robot in the ability to overcome obstacles in the ground motion.

By the way, the leg robot has to move a variety of terrain, such as obstacles, the conventional leg robot has a problem that does not move effectively in such a harsh environment. In order to perform various tasks in such various environments, it is required for a mobile robot having a jump function.

Although a mobile robot having a jump function has been introduced in the related art, the mobile robot having a jump function has various problems, such as a weak jumping force or difficulty in controlling a jump direction or a jump intensity, compared to the height.

Among the movement methods of the leg robot which the mobile robot has, jump movement clearly has advantages in terms of driving speed and energy efficiency.

Jump movements require very large driving forces in a short time. Many choices for the jumping mechanism are pneumatic actuators. Pneumatic actuators have a greater power-to-weight ratio than electromagnetic motors, and in addition, pneumatic actuators produce linear movements that are closer to the movement of muscles than the rotation of electromagnetic motors.

However, pneumatic actuator robots tend to be larger in robot body size due to the complexity of the power supply of the pneumatic system.

The small-size jumping mobile robot of the shape memory alloy driving method of the present invention for solving the above technical problem, relates to a small jumping mobile robot of the shape memory alloy driving method, and more specifically, to a jumping method using a plurality of links It is a small mobile robot consisting of four legs that can be transformed by applying electrical signals to the shape memory alloy without using a general driver such as an electric motor. The small mobile robot moves while jumping to a predetermined range. The present invention provides a small jumping mobile robot of a memory alloy driving method.

A small jumping mobile robot of the shape memory alloy driving method of the present invention for solving the technical problem, the body frame; A shape memory alloy wire which expands and contracts wires according to power characteristics installed and applied to the body frame; And four legs connected to the body frame and converting the contracting and expanding motion of the shape memory alloy wire into a jumping motion.

Preferably, the shape memory alloy wire is supported by a pair of rotary shafts so as to be relatively rotatable, and characterized in that it includes repeating contraction and expansion by rotation.

Preferably, the leg portion is a structure consisting of four legs in the body frame, a pair of front legs forming a two-link structure in the front of the body frame, as long as the three-link structure is located on the rear side of the body frame Pair of hind limbs; Characterized in that it comprises a.

Preferably, the body frame is characterized in that it comprises a linking shaft formed of a plurality of legs of each of the leg portion is formed by a plurality of legs connected to each other connected to the linking shaft.

Preferably, the forelimb portion is composed of two links, the upper side of the first link and the second link of the shape memory alloy wire is connected to the body frame to the spring to return to the original state by the elastic force on one side of the rotation shaft It is characterized by.

Preferably, the forelimb portion is composed of two links, the upper side of the first link and the second link of the shape memory alloy wire is connected to the body frame to the spring to return to the original state by the elastic force on one side of the rotation shaft It is characterized by.

Preferably, the rear leg portion comprises a third link having a shape memory alloy wire while being formed on both sides of the rear of the body frame directly connected to the body frame to be inclined forward; A fourth link connected to the third link by a rotation shaft and formed to be inclined toward the rear; A foot member connected to the fourth link by a rotation shaft to face the ground while facing forward; Characterized in that it comprises a.

Preferably, the rear leg portion is composed of three links and connected to the shape memory alloy wire of the body frame on the upper side of the third link and the fourth link, respectively, the shape memory alloy wire provided in the third link is connected to the foot member It is characterized by comprising.

Preferably, the rear leg portion includes a spring which allows the spring to return to its original state by elastic force to the body frame and the third link, and the third link and the foot member are connected to the spring and include two springs. It is done.

As described above, the present invention has the effect that the miniaturization of the jump robot and the jump robot can implement an effective jump function by a simple structure.

Such a jump robot is a small mobile robot composed of four legs that can be moved in a jumping manner using a plurality of links, and can be deformed by applying an electrical signal to the shape memory alloy without using a general driver such as an electric motor. It is a very useful invention because the small mobile robot has the effect of moving while jumping in a predetermined range.

1 is an overall configuration diagram of a small jumping mobile robot of the shape memory alloy driving method according to the present invention.
Figure 2 is a view showing before jumping jump of a small jumping mobile robot of the shape memory alloy driving method according to the present invention.
Figure 3 is a view showing a jumping jump of a small jumping mobile robot of the shape memory alloy driving method according to the present invention.

The present invention for achieving the above object,

Body frame;

A shape memory alloy wire which expands and contracts wires according to power characteristics installed and applied to the body frame;

It is achieved by providing a small jumping mobile robot of the shape memory alloy driving method, comprising: four legs connected to the body frame and converting the contraction and expansion of the shape memory alloy wire into a jumping motion. .

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

Prior to this, terms or words used in the present specification and claims should not be construed as being limited to the common or dictionary meanings, and the inventors should properly explain the concept of terms in order to best explain their own invention. Based on the principle that can be defined, it should be interpreted as meaning and concept corresponding to the technical idea of the present invention.

Therefore, the embodiments described in the specification and the drawings shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent all of the technical idea of the present invention, they can be replaced at the time of the present application It should be understood that there may be various equivalents and variations.

1 is an overall configuration diagram of a small jumping mobile robot of the shape memory alloy driving method according to the present invention.

As shown in the figure, the miniature jumping mobile robot of the shape memory alloy driving method according to the present invention is a small mobile robot composed of four legs that can be moved by a jumping method using a plurality of links without using a general driver such as an electric motor. The deformation is possible by applying an electrical signal to the shape memory alloy wire 122 so that the small mobile robot moves while jumping to a predetermined range.

The small jumping mobile robot of the shape memory alloy driving method includes a body frame 110, a shape memory alloy wire 122, and a leg part, which basically consist of a body, as shown in FIGS. 1 and 2 and 3. 130).

This, the body frame 110 is composed of a body, the body frame 110 is formed in a substantially flat and a plurality of shape memory alloy wires 122 are formed inside the body frame 110 in the front and rear when Each leg is comprised.

At this time, the shape memory alloy wire 122 is used for each of the front leg 140, the shape memory alloy wire 122 of the three by the rear leg 150 is used.

On the other hand, the shape memory alloy wire 122 installed inside the body frame 110 is rotatably supported in a grounded state according to the applied power characteristics.

The shape memory alloy wire 122 is wound around the shape memory alloy wire 122 in a state in which a pair of rotary rolls 124 are a predetermined distance therebetween, and the shape memory alloy wire 122 is wound by an applied power source. It is the expansion and contraction motion that is released.

Here, the shape memory alloy wire 122 supported by the pair of rotary rolls 124 formed in the shape memory alloy wire 122 so as to be relatively rotatable repeats contraction and expansion.

The shape memory alloy wire 122 is a rotary actuator that can control a variety of speeds or forces in accordance with the length of the shape memory alloy wire 122 and the magnitude of the current, and continuously according to the size of the load It can generate the expansion force and contraction force, it can have an active control effect.

Furthermore, the size of the rotatable actuator of the shape memory alloy wire 122 may be different or all the same, and by adjusting the position of the shape memory alloy wire 122 provided, various jumping speeds may be adjusted and the magnitude of the force may be obtained.

The shape memory alloy wire 122 is connected to the leg 130 by expanding and contracting the shape memory alloy wire 122 according to a power characteristic installed and applied to the body frame 110. Jumping action is performed.

In addition, four legs are connected to the lower surface of the body frame 110, converts the contraction and expansion of the shape memory alloy wire 122 into a jumping movement.

This, the leg portion 130 is a structure consisting of four legs in the body frame 110, the front leg portion 140 and the rear leg portion 150 is formed in the front of the body frame 110 is Each consists of a pair of structures.

The front leg 140 forms a two-link structure in front of the body frame 110.

And, the rear leg 150 is located on the rear side of the body frame 110 to form a three-link structure.

Here, the body frame 110 is composed of a plurality of legs portion 130 while forming two legs structure, the rotating shaft 132 to be connected to the link connecting is formed by the link joint.

As such, the front leg 140 is composed of two links, the first link 142 and the second link 144 is coupled to the rotation shaft 132,

The first link 142 is formed on both front sides of the body frame 110 and is inclined toward the rear by being directly connected to the body frame 110.

In addition, the second link 144 connected to the first link 142 by the rotation shaft 132 is in contact with the ground while facing forward.

As such, the front leg 140 is composed of two links in front of the body frame 110, the shape memory alloy wires 122 are drawn to the upper side of the first link 142 and the second link 144, respectively. While the spring 134 to return to the original state by the elastic force on one side of the rotation shaft 132 is to form a connection with the body frame 110.

That is, in the shape memory alloy wire 122 configured inside the body frame 110, the front and rear portions 140 and the rear legs 150 formed of two links are jumped according to the repetition of drawing and drawing.

In addition, the rear leg portion 150 located behind the sea frame 110 has three links connected to the pivot shaft 132 in the form of a link joint, and the jumping links improve the jumping force of the jumping robot by the three links. It will work.

This, the rear leg 150 is configured on both sides of the rear of the body frame 110, the third link is directly connected to the body frame 110, it is formed to be inclined toward the front.

At this time, the third link portion 152 of the rear leg 150 is provided with a shape memory alloy wire 122.

In addition, the fourth link 154 connected to the third link 152 by the rotation shaft 132 is formed to be inclined toward the rear.

In addition, the foot member 156, which is connected to the fourth link 154 and the rotation shaft 132, touches the ground while facing forward, and contributes to cold and high tipping of the ground during the jumping operation.

As such, the rear leg 150 is composed of three links, the shape memory alloy wire 122 of the body frame 110 on the upper side of the third link 152, the fourth link 154, the foot member 156, respectively. Is connected, and the shape memory alloy wire 122 provided in the third link 152 is connected to the foot member 156.

The rear leg 150 is a spring 134 for returning to the original state by the elastic force is connected to the body frame 110 and the third link 152 while the third link 152 and the foot member 156 is It is connected by a spring 134 and has two springs 134.

The spring 134 may be configured in the leg 130 to improve the buffering effect on the leg 130 is a jumping operation.

Here, the jumping robot 100 must be able to perform a vertical jump, so that each leg 130 in order to obtain a forward jump, the front and rear legs 140 and rear legs (respectively configured in front and rear of the body frame 110, respectively) Intervals and time gaps are required.

The jumping robot 100 has a shape memory alloy wire 122 in the operation of jumping the rear leg 150 by the jump operation of the front leg 140 and the rear leg 150 on the lower surface of the body frame 110, respectively. Is released from the rotary roll 124, the front leg 140 and the rear leg 150 is folded by the elastic force of the spring 134 and the leg portion 130 so that the leg portion 130 can be returned to its original position while jumping The spring 134 and the shape memory alloy wire 122 are connected to the structure.

The shape memory alloy wire 122 of the jumping robot 100 is operated by the power supplied, and may be provided inside the body frame 110.

The displacement of the leg portion 130 generated by the shape memory alloy wire 122 provided inside the body frame 110 is used for the operation of the leg portion.

The shape memory alloy wire 122 of the body frame 110 is connected to the shape memory alloy wire 122 is connected to the rotary roll 124 to rotate reciprocating movement of the leg 130 in the rotational displacement on the rotation shaft 132 The role of jumping is to change.

At this time, the legs 130 formed in front and rear of the body frame 110 are hinged to the rotation shaft 132, respectively, are installed to rotate at a predetermined angle.

Thus, using a plurality of links configured in the leg 130 of the body frame 110 is a small mobile robot consisting of four legs that can be moved in a jumping method.

In addition, deformation is possible by applying an electrical signal to the shape memory alloy wire 122 of the body frame 110 so that the small mobile robot moves while jumping to a predetermined range.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Various modifications and variations are possible within the scope of the appended claims.

100: jumping robot 110: body frame
122: shape-retaining alloy wire 124: rotary roll
130: leg 132: rotation axis
134: Spring 140: front leg
142: first link 144: second link
150: rear leg 152: third link
154: fourth link 156: foot member

Claims (9)

Body frame;
A shape memory alloy wire which expands and contracts wires according to power characteristics installed and applied to the body frame;
And a four legs connected to the body frame and converting the contraction and expansion of the shape memory alloy wire into a jumping motion.
The method of claim 1,
The shape memory alloy wire,
A small jumping mobile robot of a shape memory alloy driving method, which is supported by a pair of rotation shafts so as to be relatively rotatable and includes repeating contraction and expansion by rotation.
The method of claim 1,
The leg portion,
A structure consisting of four legs in the body frame, a pair of front legs forming a two-link structure in front of the body frame, and a pair of rear legs positioned at the rear of the body frame to form a three-link structure; Small jumping mobile robot of the shape memory alloy drive method, characterized in that consisting of.
The method according to claim 1 or 3,
The body frame is a small jumping movement of the shape memory alloy drive method characterized in that it comprises a coupling shaft is formed by a plurality of bridges, the rotating shaft to enable the link is connected to a plurality of each bridge portion to form a link joint robot.
The method of claim 3,
The forelimb part,
First links configured on both sides of the front of the body frame and directly connected to the body frame to be inclined toward the rear;
A second link connected to the first link by a rotational shaft and touching the ground while facing forward; Small jumping mobile robot of the shape memory alloy drive method, characterized in that consisting of.
The method of claim 5,
The forelimb part,
Shape memory consisting of two links, the shape memory alloy wire is connected to the upper side of the first link and the second link, respectively, the spring to return to the original state by the elastic force on one side of the rotating shaft forms a connection with the body frame Miniature jumping mobile robot driven by alloy.
The method of claim 3,
The hind legs,
A third link configured at both rear sides of the body frame and directly connected to the body frame to be inclined forward and having a shape memory alloy wire;
A fourth link connected to the third link by a rotation shaft and formed to be inclined toward the rear;
A foot member connected to the fourth link by a rotation shaft to face the ground while facing forward; Small jumping mobile robot of the shape memory alloy drive method, characterized in that consisting of.
The method of claim 7, wherein
The hind legs,
It is composed of three links are connected to the shape memory alloy wire of the body frame on the upper side of the third link and the fourth link, respectively, the shape memory alloy wire provided in the third link comprises a connection with the foot member Small jumping mobile robot of shape memory alloy drive system.
The method of claim 7, wherein
The hind legs,
Shape memory alloy driving method characterized in that the spring to return to the original state by the elastic force is connected to the body frame and the third link and the third link and the foot member is connected to the spring having two springs Compact jumping mobile robot.


KR1020100059904A 2010-06-24 2010-06-24 Small jumping robot actuated by shape memory alloy KR20110139839A (en)

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102556195A (en) * 2012-02-24 2012-07-11 东北大学 Locust bounce imitation robot driven by memory alloy
CN102556202A (en) * 2012-02-20 2012-07-11 上海交通大学 Robot foot with buffering function
CN102765434A (en) * 2012-07-03 2012-11-07 上海交通大学 Leg buffer structure of walker
CN103381862A (en) * 2013-07-30 2013-11-06 浙江工业大学 Four-footed bionic insect robot
CN104192288A (en) * 2014-09-15 2014-12-10 哈尔滨工业大学 Frog swimming imitation robot based on pneumatic muscle drive
CN105575207A (en) * 2015-12-21 2016-05-11 电子科技大学 Universal decoupling type motion simulator
CN107351937A (en) * 2017-07-10 2017-11-17 上海理工大学 Bionical Hydraulic Creeping robot
CN107600217A (en) * 2017-08-29 2018-01-19 重庆大学 Hopping robot leg and hopping robot
KR20180040776A (en) 2016-10-12 2018-04-23 충남대학교산학협력단 Unit for generating jumping power and controlling method of this and jump robot using the same
CN108145752A (en) * 2018-01-15 2018-06-12 华南理工大学 A kind of marmem supporting leg of water strider robot and its preparation and operation
CN109533077A (en) * 2018-12-13 2019-03-29 燕山大学 A kind of imitative tail bombing insect jump and walking robot
CN110562347A (en) * 2019-08-16 2019-12-13 内蒙古工业大学 Bionic mantis based on SMA drive
CN110949498A (en) * 2019-11-22 2020-04-03 江苏大学 Electric automobile and wheel hub structure of integrated steering and suspension
CN112550515A (en) * 2020-12-29 2021-03-26 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction
CN114475850A (en) * 2022-03-07 2022-05-13 吉林大学 Bionic quadruped robot driven by electric control shape memory alloy wires
CN115140213A (en) * 2022-07-22 2022-10-04 燕山大学 Four-footed crawling robot based on shape memory alloy wire drive
CN115783082A (en) * 2022-12-01 2023-03-14 山东大学 Control method of land robot

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102556202A (en) * 2012-02-20 2012-07-11 上海交通大学 Robot foot with buffering function
CN102556195A (en) * 2012-02-24 2012-07-11 东北大学 Locust bounce imitation robot driven by memory alloy
CN102765434A (en) * 2012-07-03 2012-11-07 上海交通大学 Leg buffer structure of walker
CN103381862A (en) * 2013-07-30 2013-11-06 浙江工业大学 Four-footed bionic insect robot
CN103381862B (en) * 2013-07-30 2016-03-02 浙江工业大学 Four-leg bionic insect robot
CN104192288A (en) * 2014-09-15 2014-12-10 哈尔滨工业大学 Frog swimming imitation robot based on pneumatic muscle drive
CN105575207A (en) * 2015-12-21 2016-05-11 电子科技大学 Universal decoupling type motion simulator
CN105575207B (en) * 2015-12-21 2018-05-25 电子科技大学 General decoupling type motion simulator
KR20180040776A (en) 2016-10-12 2018-04-23 충남대학교산학협력단 Unit for generating jumping power and controlling method of this and jump robot using the same
CN107351937A (en) * 2017-07-10 2017-11-17 上海理工大学 Bionical Hydraulic Creeping robot
CN107351937B (en) * 2017-07-10 2020-09-01 上海理工大学 Bionic hydraulic crawling robot
CN107600217A (en) * 2017-08-29 2018-01-19 重庆大学 Hopping robot leg and hopping robot
CN108145752A (en) * 2018-01-15 2018-06-12 华南理工大学 A kind of marmem supporting leg of water strider robot and its preparation and operation
CN108145752B (en) * 2018-01-15 2023-10-13 华南理工大学 Shape memory alloy supporting leg of water strider robot and preparation and operation thereof
CN109533077A (en) * 2018-12-13 2019-03-29 燕山大学 A kind of imitative tail bombing insect jump and walking robot
CN110562347B (en) * 2019-08-16 2021-04-13 内蒙古工业大学 Bionic mantis based on SMA drive
CN110562347A (en) * 2019-08-16 2019-12-13 内蒙古工业大学 Bionic mantis based on SMA drive
CN110949498A (en) * 2019-11-22 2020-04-03 江苏大学 Electric automobile and wheel hub structure of integrated steering and suspension
CN110949498B (en) * 2019-11-22 2021-08-03 江苏大学 Electric automobile and wheel hub structure of integrated steering and suspension
CN112550515A (en) * 2020-12-29 2021-03-26 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction
CN112550515B (en) * 2020-12-29 2022-02-25 清华大学深圳国际研究生院 Miniature jumping robot capable of controlling jumping direction
CN114475850A (en) * 2022-03-07 2022-05-13 吉林大学 Bionic quadruped robot driven by electric control shape memory alloy wires
CN114475850B (en) * 2022-03-07 2024-04-26 吉林大学 Electronic control shape memory alloy wire driven bionic quadruped robot
CN115140213A (en) * 2022-07-22 2022-10-04 燕山大学 Four-footed crawling robot based on shape memory alloy wire drive
CN115140213B (en) * 2022-07-22 2023-07-25 燕山大学 Four-foot crawling robot based on shape memory alloy wire driving
CN115783082A (en) * 2022-12-01 2023-03-14 山东大学 Control method of land robot

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