CN104802876A - 一种仿人机器人的仿生足 - Google Patents
一种仿人机器人的仿生足 Download PDFInfo
- Publication number
- CN104802876A CN104802876A CN201510239337.2A CN201510239337A CN104802876A CN 104802876 A CN104802876 A CN 104802876A CN 201510239337 A CN201510239337 A CN 201510239337A CN 104802876 A CN104802876 A CN 104802876A
- Authority
- CN
- China
- Prior art keywords
- foot
- bionical
- arch
- plate
- shaped springs
- 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.)
- Granted
Links
Classifications
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510239337.2A CN104802876B (zh) | 2015-05-12 | 2015-05-12 | 一种仿人机器人的仿生足 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510239337.2A CN104802876B (zh) | 2015-05-12 | 2015-05-12 | 一种仿人机器人的仿生足 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN104802876A true CN104802876A (zh) | 2015-07-29 |
CN104802876B CN104802876B (zh) | 2017-06-27 |
Family
ID=53688195
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510239337.2A Active CN104802876B (zh) | 2015-05-12 | 2015-05-12 | 一种仿人机器人的仿生足 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN104802876B (zh) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105523098A (zh) * | 2015-12-24 | 2016-04-27 | 哈尔滨工业大学 | 一种刚度可调的仿人机器人足部结构 |
CN105620577A (zh) * | 2016-02-19 | 2016-06-01 | 常州大学 | 混联抗冲击仿人三自由度机械足 |
CN105620576A (zh) * | 2016-02-19 | 2016-06-01 | 常州大学 | 三自由度并联减振仿人机械足 |
CN106073032A (zh) * | 2016-06-01 | 2016-11-09 | 江南大学 | 一种鞋底耐磨能力测试装置及其应用 |
CN106428287A (zh) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | 含双腔气囊脚趾的柔性腿式机器人脚部结构 |
CN108773428A (zh) * | 2018-06-21 | 2018-11-09 | 吉林大学 | 一种仿生抓地防滑足 |
CN109292021A (zh) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | 具有变刚度脚趾脚跟关节的仿生足 |
CN109394231A (zh) * | 2018-12-10 | 2019-03-01 | 刘坤 | 一种站起运动平衡监测与动力学解析*** |
WO2019041077A1 (zh) * | 2017-08-27 | 2019-03-07 | 刘哲 | 一种智能机器人 |
CN109692065A (zh) * | 2018-12-29 | 2019-04-30 | 赵鹏 | 一种o型腿矫正器 |
CN111634344A (zh) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | 具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1133941A (ja) * | 1997-07-23 | 1999-02-09 | Honda Motor Co Ltd | 脚式移動ロボットの脚構造 |
US20050173164A1 (en) * | 2004-02-06 | 2005-08-11 | Samsung Electronics Co., Ltd. | Foot structure for humanoid robot and robot with the same |
CN101428657A (zh) * | 2008-12-16 | 2009-05-13 | 吉林大学 | 欠驱动双足步行机器人行走机构 |
CN102730095A (zh) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | 柔性着陆的仿人机器人足部机构 |
-
2015
- 2015-05-12 CN CN201510239337.2A patent/CN104802876B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH1133941A (ja) * | 1997-07-23 | 1999-02-09 | Honda Motor Co Ltd | 脚式移動ロボットの脚構造 |
US20050173164A1 (en) * | 2004-02-06 | 2005-08-11 | Samsung Electronics Co., Ltd. | Foot structure for humanoid robot and robot with the same |
CN101428657A (zh) * | 2008-12-16 | 2009-05-13 | 吉林大学 | 欠驱动双足步行机器人行走机构 |
CN102730095A (zh) * | 2012-06-18 | 2012-10-17 | 杭州电子科技大学 | 柔性着陆的仿人机器人足部机构 |
Non-Patent Citations (1)
Title |
---|
李秀梅: "双足机器人仿生足部运动机构研究", 《CNKI中国优秀硕士论文全文数据库 信息科技辑》 * |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105523098A (zh) * | 2015-12-24 | 2016-04-27 | 哈尔滨工业大学 | 一种刚度可调的仿人机器人足部结构 |
CN105620577A (zh) * | 2016-02-19 | 2016-06-01 | 常州大学 | 混联抗冲击仿人三自由度机械足 |
CN105620576A (zh) * | 2016-02-19 | 2016-06-01 | 常州大学 | 三自由度并联减振仿人机械足 |
CN105620577B (zh) * | 2016-02-19 | 2018-03-06 | 常州大学 | 混联抗冲击仿人三自由度机械足 |
CN106073032B (zh) * | 2016-06-01 | 2019-04-23 | 江南大学 | 一种鞋底耐磨能力测试装置及其应用 |
CN106073032A (zh) * | 2016-06-01 | 2016-11-09 | 江南大学 | 一种鞋底耐磨能力测试装置及其应用 |
CN106428287A (zh) * | 2016-10-28 | 2017-02-22 | 河海大学常州校区 | 含双腔气囊脚趾的柔性腿式机器人脚部结构 |
WO2019041077A1 (zh) * | 2017-08-27 | 2019-03-07 | 刘哲 | 一种智能机器人 |
CN108773428A (zh) * | 2018-06-21 | 2018-11-09 | 吉林大学 | 一种仿生抓地防滑足 |
CN109292021A (zh) * | 2018-10-09 | 2019-02-01 | 北京理工大学 | 具有变刚度脚趾脚跟关节的仿生足 |
CN109394231A (zh) * | 2018-12-10 | 2019-03-01 | 刘坤 | 一种站起运动平衡监测与动力学解析*** |
CN109394231B (zh) * | 2018-12-10 | 2021-06-11 | 吉林大学 | 一种站起运动平衡监测与动力学解析*** |
CN109692065A (zh) * | 2018-12-29 | 2019-04-30 | 赵鹏 | 一种o型腿矫正器 |
CN109692065B (zh) * | 2018-12-29 | 2024-05-31 | 赵鹏 | 一种o型腿矫正器 |
CN111634344A (zh) * | 2020-04-20 | 2020-09-08 | 南京航空航天大学 | 具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法 |
CN111634344B (zh) * | 2020-04-20 | 2021-05-11 | 南京航空航天大学 | 具有主动粘/脱附能力的变刚度自适应仿壁虎脚掌及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN104802876B (zh) | 2017-06-27 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN104802876A (zh) | 一种仿人机器人的仿生足 | |
KR100843863B1 (ko) | 보행식 이동 로봇 및 그 제어 방법, 보행식 이동 로봇을위한 다리부 구조, 및 보행식 이동 로봇을 위한 가동 다리유닛 | |
CN101570219B (zh) | 具有三维力感知及空间表面自适应能力的仿生腿 | |
CN203946189U (zh) | 一种用于步行机器人的足部模块 | |
KR100949418B1 (ko) | 보행식 이동 로봇의 다리 장치 및 보행식 이동 로봇의제어 방법 | |
CN103963866B (zh) | 全地形伸缩腿式六足旋转前进机器人 | |
CN102815348B (zh) | 一种四足攀爬机器人 | |
CA2451730A1 (en) | Method of estimating floor reactions of bipedal walking body, and method of estimating joint moments of bipedal walking body | |
CN103885446A (zh) | 足式步行机器人双腿脚力测试实验平台 | |
Huang et al. | Modeling and gait selection of passivity-based seven-link bipeds with dynamic series of walking phases | |
CN102730095B (zh) | 柔性着陆的仿人机器人足部机构 | |
CN202847865U (zh) | 一种四足攀爬机器人 | |
CN114013532A (zh) | 一种用于改善双足机器人行走稳定性的一体化踝足*** | |
CN201980318U (zh) | 具有柔性关节的机器人脚部机构 | |
CN109334809B (zh) | 一种仿岩羊刚柔耦合缓冲防滑蹄掌 | |
JP4295947B2 (ja) | 脚式移動ロボット及びその移動制御方法 | |
Huynh et al. | Balance control for an underactuated leg exoskeleton based on capture point concept and human balance strategies | |
CN102717846A (zh) | 机器人脚掌结构 | |
Ogino et al. | Stabilizing biped walking on rough terrain based on the compliance control | |
CN112644600B (zh) | 一种具有主动地形感知能力的双足机器人仿生足部*** | |
Hashimoto et al. | Terrain-adaptive control to reduce landing impact force for human-carrying biped robot | |
CN108945134B (zh) | 一种载物爬楼机器人 | |
CN202605060U (zh) | 一种人体髋部外骨骼机械承载装置 | |
Ohtsuka et al. | Development of terrain adaptive sole for multi-legged walking robot | |
Galindo et al. | Actuated dual-slip model of planar slope walking |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
EXSB | Decision made by sipo to initiate substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information |
Inventor after: Chen Xuechao Inventor after: Huang Qiang Inventor after: Han Lianqiang Inventor after: Liu Huaxin Inventor after: Zhou Yuhang Inventor after: Zhang Weimin Inventor after: Yu Zhangguo Inventor after: Zuo Jiulin Inventor before: Chen Xuechao Inventor before: Huang Qiang Inventor before: Liu Huaxin Inventor before: Zhou Yuhang Inventor before: Zhang Weimin Inventor before: Yu Zhangguo Inventor before: Zuo Jiulin |
|
GR01 | Patent grant | ||
GR01 | Patent grant |