CN103264733A - Single-leg robot in-place jumping mechanism with power energy storage function - Google Patents
Single-leg robot in-place jumping mechanism with power energy storage function Download PDFInfo
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- CN103264733A CN103264733A CN2013101444734A CN201310144473A CN103264733A CN 103264733 A CN103264733 A CN 103264733A CN 2013101444734 A CN2013101444734 A CN 2013101444734A CN 201310144473 A CN201310144473 A CN 201310144473A CN 103264733 A CN103264733 A CN 103264733A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 33
- 238000004146 energy storage Methods 0.000 title claims abstract description 11
- 230000009191 jumping Effects 0.000 title abstract description 7
- 210000003127 knee Anatomy 0.000 claims abstract description 59
- 210000004394 hip joint Anatomy 0.000 claims abstract description 41
- 210000000629 knee joint Anatomy 0.000 claims abstract description 33
- 210000000689 upper leg Anatomy 0.000 claims abstract description 29
- 210000001624 hip Anatomy 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 16
- 230000036541 health Effects 0.000 claims description 34
- 210000002414 leg Anatomy 0.000 claims description 14
- 239000000203 mixture Substances 0.000 claims description 10
- 244000309466 calf Species 0.000 claims description 7
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 239000004411 aluminium Substances 0.000 claims description 4
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 238000005381 potential energy Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 2
- 230000000295 complement effect Effects 0.000 abstract 1
- 210000001503 joint Anatomy 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 230000003116 impacting effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
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Abstract
The invention discloses a single-leg robot in-place jumping mechanism with a power energy storage function and belongs to the technical field of robots. A robot is composed of five portions including a body, a hip joint, a knee joint, a pelma and a thigh and a shank, the body and the thigh are connected through the hip joint, the thigh and the shank are connected through the knee joint, the hip joint is composed of elements like a motor, a harmonic speed reducer, a coder and a hip spring, has a function of actively outputting joint moment and provides active moment output for the knee joint through a synchronous belt, a knee spring is mounted on a knee rotary shaft of the knee joint, the knee joint stores and complements energy for jumping of the robot by converting gravitational potential energy of the robot into elastic potential energy of the knee spring, and a force sensor is mounted on the pelma and used for detecting ground-touching information of the robot. By reasonably arranging the joints and combining an active and passive joint control technology to store and complement the energy for jumping of the robot, improving of quickness and efficiency in moving of the robot is facilitated.
Description
Technical field
The invention belongs to the Robotics field, the single robot leg that the relates to a kind of power energy storage mechanism that caprioles.
Background technology
In the last few years, along with the development of Robotics, people had higher requirement to motion rapidity and the high efficiency of robot manipulating task.For legged mobile robot, how to realize the quick jump of robot and the research focus that road-work has become the Robotics field.At present, the most legged mobile robot of China can only be realized walking and function such as creep, and kinematic velocity is subjected to the restriction of driving factors such as motor, has tangible gap than external advanced person's robot.Therefore, improve robot motion's speed and the major issue that efficient becomes the robot mechanism design.
Single robot leg is the simplest robot of structure in the legged mobile robot, designs single robot leg and has the advantage that cost is low and the cycle is short.By designing single robot leg mechanism, we not only can understand constructional feature and the motion characteristics of legged mobile robot better; And the design of the energy storage by the joint, robot can be by absorbing outside impact or utilizing self gravity, changes into the energy output in self joint, to realize more fast and motion efficiently.In addition, the technical study of single robot leg also has great importance to the development that promotes the multi-foot robot technology.
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, the single robot leg that the has proposed a kind of power energy storage mechanism that caprioles, coordination control by hip and knee, make robot when landing, not only reduce the damage of impacting robot body, also the energy that impacts is stored in the kneed spring, and when the robot take-off, pass through the release spring energy, and assist motor output acting, realize the skip functionality of robot.This mechanism design has been protected the damage of impacting the joint of robot motor, has reduced the load of joint motor, has improved kinematic velocity and the efficient in joint, has saved energy, has prolonged robot architecture's service life.In addition, owing to adopted the shank design of apery, therefore, this mechanism can also be applied in the biped anthropomorphic robot.
The objective of the invention is to be achieved through the following technical solutions: a kind of single robot leg of power energy storage mechanism that caprioles, comprise health, hip joint, knee joint, vola and thigh and calf five parts, be connected with knee joint by hip joint respectively between health and thigh, thigh and the shank.Health is made up of right body side plate, right side board flange, left side of body plate, left side board flange, health backboard, health header board, health transverse slat, first guiding mechanism and second guiding mechanism etc., right body side plate, left side of body plate, health backboard and health header board are formed by connecting by eight pin aluminium, and transverse slat is connected between right body side plate and the left side of body plate.The right body side plate connects right side of body flange, crossbeam and adjustable pipe, the left side of body plate connects left side of body flange, crossbeam and adjustable pipe, the crossbeam of health both sides connects first guiding mechanism and second guiding mechanism respectively, guiding mechanism is by compositions such as guide flange, linear bearing and jump rings, linear bearing is installed in the guide flange circular hole, two ends are fixed by jump ring, be connected with crossbeam by screw, the right side of body flange is connected hip joint clutch shaft bearing and hip joint second bearing respectively with the left side of body flange, and adjustable pipe is fixed on the health biside plate by pad and nut; Hip joint has comprised speed source and moment source, the speed source is made up of motor and harmonic speed reducer etc., motor is fixed on the motor flange, motor flange passes through screw, be connected with firm wheel flange with Rigid Gear of Harmonic Reducer, with hip clutch shaft bearing seat jointly as the fixed part in joint, rotating shaft is coaxial is connected with input in the rotating shaft of motor, input rotating shaft two ends are respectively by rotating shaft clutch shaft bearing and rotating shaft second bearings, by the harmonic speed reducer wave producer, realize the output of harmonic speed reducer flexbile gear, with the flexbile gear flange jointly as the motion parts in joint, speed source part realizes the controlled reset of speed signal by coder, the moment source of hip joint is by the first coder stator, the first coder rotor, the second coder stator, the second coder rotor, the hip spring, compositions such as output flange and joint output shaft, the first coder stator is fixed on the hip clutch shaft bearing seat by plastics openning and screw, the first coder rotor then is fixed on the output flange, output flange and joint outer shaft are fixed, and be connected with hip spring one end, the two ends of axle are by joint clutch shaft bearing and joint second bearings in the joint, and fix with the joint output shaft, the joint output shaft connects the output small pulley through bearing, the second coder rotor is connected with the joint output shaft, the second coder stator and hip second bearing seat are fixed, by detecting two relative motion angles between the coder, be multiplied by the elasticity modulus of hip spring 41, can obtain the moment values of joint output; Knee joint is made up of knee top board, knee right side board, knee left side board, knee rotating shaft, knee joint spring, the big belt wheel of input etc., a knee joint part is made up of knee top board, knee right side board and knee left side board, another part is made up of knee rotating shaft and the big belt wheel of input, produce relative motion by knee clutch shaft bearing, knee second bearing between two parts, cover is by the knee spring in the knee rotating shaft, knee spring one end is connected with the knee right side board, and an end is connected with flange in the knee rotating shaft; Strong sensor is installed in the vola, is fixed on the shank by screw, and the power sensor has wrapped up vola rubber, is fixed on the power sensor by screw; In addition, thigh right side board, thigh left side board, thigh plate are installed on the hip joint, by thigh, are connected with knee joint; Shank right side board, shank left side board, calf plate also are installed in the knee rotating shaft, are connected with the vola by shank; The power that knee joint is kicked one's legs is transmitted through being with synchronously by the output small pulley of hip joint.
Effective effect of the present invention is, the present invention has designed the single-leg jumping robot mechanism of two-freedom, and the mode that has adopted main passive joint to combine has designed the hip joint of ACTIVE CONTROL and the knee joint of passive energy storage respectively.The mode of hip joint by adopting serial spring to drive, motion by Torque Control mode activated joint, this mode not only can be effectively with absorbing in the face of the impulsive force of robot, improve the class of safety protection of robot, and the better jump characteristic of simulating nature circle biology; Kneed passive energy storage design makes robot at landing instant, has not only possessed equally to absorb the effect of impacting, and the gravitional force of robot can also be changed into the elastic potential energy in the knee joint spring, is the energy reserve of take-off again of robot; Hip joint is in robot motion's process, provide energy by synchronous band for knee joint, when robot when landing in the air, in case detect the signal that contacts to earth, hip joint will be exported zero moment, and robot is the joint stored energy by gravitional force only, and when knee joint becomes extended configuration by compressive state, hip joint will be exported maximum torque, by kneed energy supplement, realize caprioling of robot; Because the motion of hip joint and body part is relatively independent, because the initial angle of hip joint need be finely tuned by adjustable pipe, the skyborne minimum limit angle of robot has directly been determined in the position of adjustment.
Description of drawings
Fig. 1 is the capriole block diagram of mechanism of single-leg jumping robot;
Fig. 2 is the block diagram of body part;
Fig. 3 is the cutaway view of hip joint;
Fig. 4 is kneed block diagram;
Fig. 5 is the cutaway view in vola;
Fig. 6 is the block diagram of adjustable pipe;
Among the figure, right body side plate 1, right side board flange 2, left side of body plate 3, left side board flange 4, health backboard 5, health header board 6, right angle aluminium 7, health transverse slat 8, crossbeam 9, first guiding mechanism 10, second guiding mechanism 11, guide flange 12, linear bearing 13, jump ring 14, screw 15, adjustable pipe 16, pad 17, nut 18, motor 19, coder 20, rotating shaft clutch shaft bearing 21, motor flange 22, screw 23, input rotating shaft 24, harmonic speed reducer wave producer 25, harmonic speed reducer flexbile gear 26, Rigid Gear of Harmonic Reducer 27, just taken turns flange 28, rotating shaft second bearing 29, flexbile gear flange 30, hip joint clutch shaft bearing 31, hip clutch shaft bearing seat 32, the first coder stator 33, the first coder rotor 34, plastics clasp 35, screw 36, output flange 37, joint outer shaft 38, joint clutch shaft bearing 39, joint second bearing 40, hip joint spring 41, axle 42 in the joint, joint output shaft 43, the second coder stator 44, the second coder rotor 45, hip second bearing seat 46, hip joint second bearing 47, output shaft bearing 48, output small pulley 49, knee top board 50, knee right side board 51, knee left side board 52, knee clutch shaft bearing 53, knee second bearing 54, knee rotating shaft 55, knee joint spring 56, import big belt wheel 57, shank right side board 58, shank left side board 59, calf plate 60, shank 61, screw 62, power sensor 63, vola rubber 64, screw 65, thigh right side board 66, thigh left side board 67, thigh plate 68, thigh 69, be with 70 synchronously.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing.
Single robot leg of power energy storage of the present invention mechanism that caprioles is made up of health, hip joint, knee joint, vola and thigh and calf five parts, is connected with knee joint by hip joint respectively between health and thigh, thigh and the shank.The body part of robot is by right body side plate 1, right side board flange 2, left side of body plate 3, left side board flange 4, health backboard 5, health header board 6, health transverse slat 8, compositions such as first guiding mechanism 10 and second guiding mechanism 11, right body side plate 1, left side of body plate 3, health backboard 5 and health header board 6 are formed by connecting by eight pin aluminium 7, transverse slat 8 is connected between right body side plate 1 and the left side of body plate 3, be used for improving the structural strength of health, right body side plate 1 connects right side of body flange 2, crossbeam 9 and adjustable pipe 16, left side of body plate 3 connects left side of body flange 4, crossbeam 9 and adjustable pipe 16, the crossbeam 9 of health both sides connects first guiding mechanism 10 and second guiding mechanism 11 respectively, guiding mechanism is by guide flange 12, compositions such as linear bearing 13 and jump ring 14, linear bearing 13 is installed in guide flange 12 circular holes, two ends are fixing by jump ring 14, be connected with crossbeam 9 by screw 15, guaranteed that single robot leg is when jumping, can only move along the axis direction of guiding mechanism, right side of body flange 2 is connected hip joint clutch shaft bearing 31 and hip joint second bearing 47 respectively with left side of body flange 4, this mechanism makes that rotatablely moving of hip joint is separate with the straight-line motion of health, adjustable pipe 16 is fixed on the health biside plate by pad 17 and nut 18, be used for to regulate the minimum limit angle of single robot leg thigh swing aloft the time; Hip joint has comprised speed source and moment source, the speed source is made up of motor and harmonic speed reducer etc., motor 19 is fixed on the motor flange 22, motor flange is by screw 23, be connected with firm wheel flange 28 with Rigid Gear of Harmonic Reducer 27, with hip clutch shaft bearing seat 32 common fixed parts as the joint, the rotating shaft of motor 19 and input 24 coaxial connections of rotating shaft, input rotating shaft 24 two ends are supported by rotating shaft clutch shaft bearing 21 and rotating shaft second bearing 29 respectively, by harmonic speed reducer wave producer 25, realize the output of harmonic speed reducer flexbile gear 26, with flexbile gear flange 30 common motion parts as the joint, speed source part realizes the controlled reset of speed signal by coder 20, and provide energy input and command signal for the Torque Control in joint, the moment source of hip joint is by the first coder stator 33, the first coder rotor 34, the second coder stator 44, the second coder rotor 45, hip spring 41, compositions such as output flange 37 and joint output shaft 43, the first coder stator 33 is fixed on the hip clutch shaft bearing seat 32 by plastics openning 35 and screw 36,34 of the first coder rotors are fixed on the output flange 37, output flange 37 is fixing with joint outer shaft 38, and be connected with hip spring 41 1 ends, the two ends of axle 42 are supported by joint clutch shaft bearing 39 and joint second bearing 40 in the joint, and it is fixing with joint output shaft 43, joint output shaft 43 connects output small pulley 49 through bearing 48, the second coder rotor 45 is connected with joint output shaft 43, the second coder stator 44 is fixing with hip second bearing seat 46, by detecting two relative motion angles between the coder, be multiplied by the elasticity modulus of hip spring 41, can obtain the moment values of joint output, the structure design of hip realizes that for robot the Torque Control in joint provides guarantee; Knee joint is by knee top board 50, knee right side board 51, knee left side board 52, knee rotating shaft 55, knee joint spring 56, import big belt wheel 57 compositions such as grade, a knee joint part is by knee top board 50, knee right side board 51 and knee left side board 52 are formed, another part is made up of knee rotating shaft 55 and the big belt wheel 57 of input, pass through knee clutch shaft bearing 53 between two parts, knee second bearing 54 produces relative motion, cover is by knee spring 56 in the knee rotating shaft 55, knee spring 56 1 ends are connected with the knee right side board, one end is connected with flange in the knee rotating shaft 55, robot changes into the elastic potential energy of knee spring 56 by the impulsive force that will land, and is the jump savings energy of robot; Strong sensor 63 is installed in the vola, be fixed on the shank 61 by screw 62, power sensor 63 has wrapped up vola rubber 64, be fixed on the power sensor 63 by screw 65, force transducer for sole of foot is used for the pin side and touches the signal at the end and the size of power, vola rubber 64 is suitable protection sensor 63 not only, can also slow down the impact on ground; In addition, thigh right side board 66, thigh left side board 67, thigh plate 68 are installed on the hip joint, by thigh 69, are connected with knee joint; Shank right side board 58, shank left side board 59, calf plate 60 also are installed in the knee rotating shaft 55, are connected with the vola by shank 61; The power that knee joint is kicked one's legs by the output small pulley 49 of hip joint through being with 70 to transmit synchronously, robot is from the process that lands in the air, in case detect the signal that contacts to earth, make that the hip joint output torque is zero, robot is only by gravitional force, by knee joint spring stored energy, and when knee joint becomes extended configuration by compressive state, hip joint output maximum torque by kneed energy supplement, realizes caprioling of robot.
Claims (1)
1. single robot leg of power energy storage mechanism that caprioles is characterized in that it is made up of health, hip joint, knee joint, vola and thigh and calf five parts, is connected with knee joint by hip joint respectively between health and thigh, thigh and the shank; Health is by right body side plate (1), right side board flange (2), left side of body plate (3), left side board flange (4), health backboard (5), health header board (6), health transverse slat (8), first guiding mechanism (10) and second guiding mechanism compositions such as (11), right body side plate (1), left side of body plate (3), health backboard (5) and health header board (6) are formed by connecting by eight pin aluminium (7), transverse slat (8) is connected between right body side plate (1) and the left side of body plate (3), right body side plate (1) connects right side of body flange (2), crossbeam (9) and adjustable pipe (16), left side of body plate (3) connects left side of body flange (4), crossbeam (9) and adjustable pipe (16), the crossbeam of health both sides (9) connects first guiding mechanism (10) and second guiding mechanism (11) respectively, guiding mechanism is by guide flange (12), linear bearing (13) and jump ring compositions such as (14), linear bearing (13) is installed in guide flange (12) circular hole, two ends are fixing by jump ring (14), are connected with crossbeam (9); Right side of body flange (2) is connected hip joint clutch shaft bearing (31) and hip joint second bearing (47) respectively with left side of body flange (4), and adjustable pipe (16) is fixed on the health biside plate; Hip joint has comprised speed source and moment source, and the speed source is made up of motor and harmonic speed reducer etc., and motor (19) is fixed on the motor flange (22); Motor flange (22) is connected with firm wheel flange (28) with Rigid Gear of Harmonic Reducer (27), the rotating shaft of motor (19) and input coaxial connection of rotating shaft (24), input rotating shaft (24) two ends are supported by rotating shaft clutch shaft bearing (21) and rotating shaft second bearing (29) respectively, realize the output of harmonic speed reducer flexbile gear (26) by harmonic speed reducer wave producer (25), the controlled reset of speed signal is realized in the speed source by coder (20), the moment source of hip joint is by the first coder stator (33), the first coder rotor (34), the second coder stator (44), the second coder rotor (45), hip spring (41), output flange (37) and joint output shaft compositions such as (43), the first coder stator (33) is fixed on the hip clutch shaft bearing seat (32) by plastics openning (35), the first coder rotor (34) then is fixed on the output flange (37), output flange (37) is fixing with joint outer shaft (38), and be connected with hip spring (41) one ends, the two ends of axle (42) are supported by joint clutch shaft bearing (39) and joint second bearing (40) in the joint, and it is fixing with joint output shaft (43), joint output shaft (43) connects output small pulley (49) through bearing (48), the second coder rotor (45) is connected with joint output shaft (43), and the second coder stator (44) is fixing with hip second bearing seat (46); Knee joint is by knee top board (50), knee right side board (51), knee left side board (52), knee rotating shaft (55), knee joint spring (56), import big belt wheel compositions such as (57), a knee joint part is by knee top board (50), knee right side board (51) and knee left side board (52) are formed, another part is made up of knee rotating shaft (55) and the big belt wheel of input (57), pass through knee clutch shaft bearing (53) between two parts, knee second bearing (54) produces relative motion, knee rotating shaft (55) is gone up cover by knee spring (56), knee spring (56) one ends are connected with the knee right side board, and an end is connected with flange in the knee rotating shaft (55); Strong sensor (63) is installed in the vola, is fixed on the shank (61); Power sensor (63) has wrapped up vola rubber (64), is fixed on the power sensor (63); Thigh right side board (66), thigh left side board (67), thigh plate (68) are installed on the hip joint, by thigh (69), are connected with knee joint; Shank right side board (58), shank left side board (59), calf plate (60) also are installed in the knee rotating shaft (55), are connected with the vola by shank (61); The power that knee joint is kicked one's legs is transmitted through being with (70) synchronously by the output small pulley (49) of hip joint.
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105643609A (en) * | 2016-04-14 | 2016-06-08 | 哈尔滨工业大学 | Human-machine mutual force detection device |
| CN106672105A (en) * | 2017-03-01 | 2017-05-17 | 吉林大学 | Bionic four-foot robot hind limb with tensegrity structure |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN107953361A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot driving mechanism and robot |
| CN107953362A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot rotational angle testing agency and robot |
| CN108163080A (en) * | 2017-12-04 | 2018-06-15 | 香港中文大学（深圳） | Adapt to the electric drive quadruped robot of the high load capability of complicated rugged topography |
| CN109590988A (en) * | 2018-12-07 | 2019-04-09 | 中山市沃倍特智能医疗机器人股份有限公司 | Can the knee joint of intelligent accumulation of energy dress booster |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| CN111152861A (en) * | 2020-01-10 | 2020-05-15 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
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| CN106672105A (en) * | 2017-03-01 | 2017-05-17 | 吉林大学 | Bionic four-foot robot hind limb with tensegrity structure |
| CN106672105B (en) * | 2017-03-01 | 2023-03-21 | 吉林大学 | Bionic four-legged robot hind limb with integral tensioning structure |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
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| CN107953362A (en) * | 2017-12-29 | 2018-04-24 | 深圳市优必选科技有限公司 | A kind of joint of robot rotational angle testing agency and robot |
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| CN109590988A (en) * | 2018-12-07 | 2019-04-09 | 中山市沃倍特智能医疗机器人股份有限公司 | Can the knee joint of intelligent accumulation of energy dress booster |
| CN109590988B (en) * | 2018-12-07 | 2023-11-24 | 中山市沃倍特智能医疗器械股份有限公司 | But knee joint of intelligent energy storage wears booster |
| CN109850025A (en) * | 2019-02-26 | 2019-06-07 | 浙江大学 | A kind of single leg robot mechanism and control method of metope jump |
| WO2020173098A1 (en) * | 2019-02-26 | 2020-09-03 | 浙江大学 | Mechanism of one-legged robot enabling jumping on wall surface, and control method |
| JP2021516639A (en) * | 2019-02-26 | 2021-07-08 | 浙江大学Ｚｈｅｊｉａｎｇ Ｕｎｉｖｅｒｓｉｔｙ | One-legged robot mechanism and control method that jumps on the wall |
| US12024245B2 (en) | 2019-02-26 | 2024-07-02 | Zhejiang University | Single-leg robot mechanism for jumping on a wall and method for controlling the same |
| JP7025830B2 (en) | 2019-02-26 | 2022-02-25 | 浙江大学 | One-legged robot mechanism and control method that jumps on the wall |
| CN111152861A (en) * | 2020-01-10 | 2020-05-15 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
| CN111152861B (en) * | 2020-01-10 | 2021-03-02 | 燕山大学 | Eight-connecting-rod structure jumping robot with adjustable aerial posture |
| CN111891253A (en) * | 2020-09-02 | 2020-11-06 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Quadruped robot |
| CN111891253B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-foot robot |
| CN113173214A (en) * | 2021-04-21 | 2021-07-27 | 昆明理工大学 | Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same |
| CN115320739B (en) * | 2022-08-31 | 2023-07-07 | 南京工程学院 | Jumping robot bouncing mechanism based on non-circular gear |
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