CN105818879B - A kind of positive and negative double step gait legged type robot - Google Patents
A kind of positive and negative double step gait legged type robot Download PDFInfo
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- CN105818879B CN105818879B CN201610185056.8A CN201610185056A CN105818879B CN 105818879 B CN105818879 B CN 105818879B CN 201610185056 A CN201610185056 A CN 201610185056A CN 105818879 B CN105818879 B CN 105818879B
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- 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
- B62D57/028—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 having wheels and mechanical legs
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Abstract
A kind of positive and negative double step gait legged type robot includes left side leg, right side leg, trailer, and the wherein left head rod of left side leg and the output shaft of double output shaft electric machines is connected, and the right head rod of right side leg and another output shaft of double output shaft electric machines are connected.One end of the connecting shaft of trailer is connected with left frame, and the other end is connected with right rack, realizes the connection of trailer and left and right side leg.Double output shaft electric machines drive left and right head rod complete cycle revolution, realize the movement of the legged type robot.Left and right side leg is respectively provided with sliding pair, optimizes sufficient end track；Left and right side leg is 10 linkages, it can be achieved that walking movement both with positive and negative, front walking are high lift leg gait, it can be achieved that high obstacle is crossed over；Reverse side walking is row gait of walking on tiptoe, it can be achieved that certain concealment is walked；The problem of failure is walked after mechanism translates into is avoided at the same time.The present invention can be used for celestial body detecting, military affairs and the fields such as exploration, toy teaching of engaging in archaeological studies.
Description
Technical field
The present invention relates to a kind of positive and negative double step gait legged type robot, in particular to a kind of bionical walking robot, pass through
Optimization to rod piece kinematic pair and rod size, makes the positive and negative walking of the robot that two kinds of gaits can be achieved, avoids mechanism overturning
Walk afterwards the situation of failure, there is considerable flexibility and ground adaptability.The present invention can be used for celestial body detecting, military affairs and examine
The fields such as ancient exploration, toy teaching.
Background technology
Sufficient formula mobile robot is compared with other mobile robots, the flexibility with higher, environmental suitability, increasingly
Paid close attention to be subject to researcher.For general legged type robot leg mechanism more using subjoint is rotated, sufficient end track is unstable.Together
When existing legged type robot positive and negative walking step state mostly it is consistent, mechanism walks failure after overturning, and limits the flexible of robot
Property and obstacle climbing ability.
Chinese patent CN102068819A discloses a kind of " single-power four feet walk platform ", which is sufficient formula machine
People, all joints are all using revolute pair, and sufficient end track is unstable, and positive and negative walking step state is consistent, flexibility and obstacle climbing ability by
Limit.
The content of the invention
The technical problem to be solved in the present invention：Leg structure is single for the legged type robot foot end track of closed chain, is plane
Mechanism easily topples, and makes robot dexterity, and obstacle climbing ability is limited.A kind of positive and negative double step gait legged type robot is provided.
Technical scheme：
A kind of positive and negative double step gait legged type robot, it is characterised in that：The positive and negative double step gait legged type robot include left side leg,
Right side leg, trailer.
Left side leg is single-degree-of-freedom linkage, and two motor installing holes on left frame close to left head rod pass through
The side of screw and double output shaft electric machines, which coordinates, to be fixed；The output shaft of double output shaft electric machines passes through through left frame with left head rod
Jackscrew is fixedly connected.Left side leg is 10 linkages, it can be achieved that walking movement both with positive and negative.Right side leg is single-degree-of-freedom connecting rod
Mechanism, two motor installing holes of head rod of keeping right in right rack are coordinated solid by the opposite side of screw and double output shaft electric machines
It is fixed；Another output shaft of double output shaft electric machines is fixedly connected through right rack with right head rod by jackscrew.Right side leg is 10
Linkage is, it can be achieved that walking movement both with positive and negative.Left side leg and right side leg are located at motor both sides arrangement, and left the of left side leg
One connecting rod is overlapped with the right head rod pivot center of right side leg, and integral cycle rotating, phase difference are driven by double output shaft electric machines
180°。
Trailer is made of right wheel, left wheel, axletree, trailer head rod, the second connecting rod of trailer, connecting shaft.
The left and right wheel of trailer is connected by axletree；One end mounting hole of first, second connecting rod of trailer is passed through by axletree.Trailer
The other end mounting hole of first, second connecting rod is passed through by connecting shaft.One end of the connecting shaft is connected with left frame, the other end and right machine
Frame is connected, and realizes the connection of trailer and left and right side leg.The both sides output shaft of double output shaft electric machines drives left and right first connection respectively
Bar complete cycle turns round, and realizes the movement of positive and negative double step gait legged type robot.
Left side leg includes left frame, left slider, left head rod, left second connecting rod, left 3rd connecting rod, a left side the 4th
Connecting rod, left 5th connecting rod, left 6th connecting rod, left 7th connecting rod, left 8th connecting rod.
Left head rod, left second connecting rod, left 5th connecting rod, left 6th connecting rod and left 7th connecting rod both ends
Have a mounting hole；Left 3rd connecting rod is triangle rod piece；Left 3rd connecting rod is respectively provided with one on three vertex
Mounting hole, a mounting hole is respectively provided with the middle part of two shorter edges；Left 4th connecting rod and left 8th connecting rod in end and
A mounting hole is respectively arranged at middle part；Left frame is provided with a sliding slot on top, is disposed with three rod piece mounting holes, two motor holes
Connecting hole with one with trailer；Left slider is H-type block member, and left slider outer end face is provided with a threaded hole.
Connection mode between left side leg rod piece is：One end of double output shaft electric machines leads to through left frame with left head rod
Jackscrew is crossed to be fixedly connected；The other end mounting hole of left head rod and the vertex mounting hole of left 3rd connecting rod pass through axis pin
Rotate hinged；The end mounting hole of left second connecting rod is rotated hinged with another mounting hole below left frame by axis pin；It is left
The other end mounting hole of second connecting rod and the middle part mounting hole of left 3rd connecting rod are rotated by axis pin and are hinged；A left side the 4th connects
The end mounting hole of extension bar and the end mounting hole of left 7th connecting rod are rotated by axis pin and are hinged；The middle part of left 4th connecting rod
Mounting hole and the apex angle mounting hole of left 3rd connecting rod are rotated by axis pin and are hinged；The end mounting hole of left 5th connecting rod and a left side
Another middle part mounting hole of 3rd connecting rod is rotated hinged by axis pin；The other end mounting hole of left 5th connecting rod and left the
The end mounting hole of six connecting rods is rotated hinged by axis pin；The other end mounting hole of left 6th connecting rod is connected with a left side the 8th
The middle part mounting hole of bar is rotated hinged by axis pin；The end mounting hole of left 8th connecting rod and another top of left 3rd connecting rod
Point mounting hole is rotated hinged by axis pin；Left the other end mounting hole of 7th connecting rod and the middle part mounting hole of left frame pass through
Axis pin rotates hinged；Left slider is stuck in the sliding slot of left frame, is formed and is slidably matched with sliding slot.
The right side leg include right rack, right sliding block, right head rod, right second connecting rod, right 3rd connecting rod,
Right 4th connecting rod, right 5th connecting rod, right 6th connecting rod, right 7th connecting rod, right 8th connecting rod.The part of right side leg
Structure and size, connection relation and the free degree are identical with left side leg.
Beneficial effects of the present invention：
Positive and negative double step gait legged type robot of the present invention, unilateral leg are mechanism with single degree of freedom, pass through double output shaft electricity
Machine driving both sides crank complete cycle revolution, left and right sides leg are respectively provided with sliding pair, optimize sufficient end track；Designed by rod size
Optimization, makes the gait of the positive and negative walking states of the mechanism different, and front walking is high lift leg gait, it can be achieved that high obstacle is crossed over；Instead
Face walking is row gait of walking on tiptoe, it can be achieved that certain concealment is walked；The problem of failure is walked after mechanism translates into is avoided at the same time, is had
The flexibility of higher and obstacle climbing ability.
Brief description of the drawings
The positive and negative double step gait legged type robot entirety graphics of Fig. 1；
The positive and negative double step gait legged type robot left side leg graphics of Fig. 2；
The positive and negative double step gait legged type robot right side leg graphics of Fig. 3；
The positive and negative double step gait legged type robot trailer graphics of Fig. 4.
Embodiment
The present invention is described in further details below in conjunction with the accompanying drawings.
A kind of positive and negative double step gait legged type robot, as shown in Figure 1, including left side leg (A), right side leg (B), trailer (C).
The left side leg (A) is single-degree-of-freedom linkage, close to the two of left head rod (A2) on left frame (A1)
A motor installing hole is coordinated by the side of screw and double output shaft electric machines (1) fixes；The output shaft of double output shaft electric machines (1) passes through a left side
Rack (A1) is fixedly connected with left head rod (A2) by jackscrew；Left side leg (A) is 10 linkages, it can be achieved that positive and negative simultaneous
The walking movement of tool.
Right side leg (B) is single-degree-of-freedom linkage, as shown in figure 3, head rod (B2) of keeping right in right rack (B1)
Two motor installing holes pass through the opposite sides of screw and double output shaft electric machines (1) and coordinate and fix；Double output shaft electric machines (1) it is another defeated
Shaft is fixedly connected through right rack (B1) with right head rod (B2) by jackscrew.Right side leg (B) is 10 linkages, can
Realize it is positive and negative both with walking movement.
Left side leg (A) and right side leg (B) are located at motor both sides arrangement, left head rod (A2) and the right side of left side leg (A)
Right head rod (B2) pivot center of side leg (B) overlaps, and integral cycle rotating, 180 ° of phase difference are driven by double output shaft electric machines (1).
Trailer (C), as shown in figure 3, by right wheel (C1), left wheel (C3), axletree (C2), trailer head rod
(C4), the second connecting rod of trailer (C5), connecting shaft (C6) composition；The left and right wheel (C1, C3) of trailer (C) is by axletree (C2)
It is connected；One end mounting hole of first, second connecting rod of trailer (C4, C5) is passed through by axletree (C2)；Trailer first, second connects
The other end mounting hole of bar (C4, C5) is passed through by connecting shaft (C6)；Connecting shaft (C6) one end is connected with left frame (A1), the other end
It is connected with right rack (B1), realizes the connection of trailer (C) and left and right side leg (A, B).
By above-mentioned connection, the assembling of the positive and negative double step gait legged type robot is completed, the both sides of double output shaft electric machines (1) are defeated
Shaft drives left and right head rod (A2, B2) complete cycle to turn round respectively, realizes the movement of positive and negative double step gait legged type robot.
Left side leg (A), as shown in Fig. 2, including left frame (A1), left slider (A8), left head rod (A2), a left side second
Connecting rod (A3), left 3rd connecting rod (A4), left 4th connecting rod (A5), left 5th connecting rod (A6), left 6th connecting rod
(A7), left 7th connecting rod (A9), left 8th connecting rod (A10).
Left head rod (A2), left second connecting rod (A3), left 5th connecting rod (A6), left 6th connecting rod (A7) and
Left 7th connecting rod (A9) both ends have a mounting hole；Left 3rd connecting rod (A4) is triangle rod piece；A left side the 3rd connects
Extension bar (A4) is respectively provided with a mounting hole on three vertex, and a mounting hole is respectively provided with the middle part of two shorter edges；A left side the 4th
Connecting rod (A5) and left 8th connecting rod (A10) respectively arrange a mounting hole in end and middle part；Left frame (A1) is opened on top
There is a sliding slot, be disposed with three rod piece mounting holes, two motor holes and one and the connecting hole of trailer (C)；Left slider (A8)
For H-type block member, left slider (A8) outer end face is provided with a threaded hole.
Connection mode between left side leg (A) rod piece is：One end of double output shaft electric machines (1) is through left frame (A1) and left the
One connecting rod (A2) is fixedly connected by jackscrew；The other end mounting hole of left head rod (A2) and left 3rd connecting rod
(A4) vertex mounting hole is rotated hinged by axis pin；The end mounting hole of left second connecting rod (A3) and left frame (A1) lower section
Another mounting hole rotated by axis pin it is hinged；The other end mounting hole of left second connecting rod (A3) and left 3rd connecting rod
(A4) middle part mounting hole is rotated hinged by axis pin；The end mounting hole of left 4th connecting rod (A5) and left 7th connecting rod
(A9) end mounting hole is rotated hinged by axis pin；The middle part mounting hole of left 4th connecting rod (A5) and left 3rd connecting rod
(A4) apex angle mounting hole is rotated hinged by axis pin；The end mounting hole of left 5th connecting rod (A6) and left 3rd connecting rod
(A4) another middle part mounting hole is rotated hinged by axis pin；The other end mounting hole of left 5th connecting rod (A6) and a left side the 6th
The end mounting hole of connecting rod (A7) is rotated hinged by axis pin；The other end mounting hole of left 6th connecting rod (A7) and left the
The middle part mounting hole of eight connecting rods (A10) is rotated hinged by axis pin；The end mounting hole of left 8th connecting rod (A10) and left the
The another summit mounting hole of three connecting rods (A4) is rotated hinged by axis pin；The other end mounting hole of left 7th connecting rod (A9)
Rotated and be hinged by axis pin with the middle part mounting hole of left frame (A1)；Left slider (A8) is stuck in the sliding slot of left frame (A1), with
Sliding slot is formed and is slidably matched.The threaded hole of left slider (A8) outer end face and left five, the 6th connecting rods (A6, A7), each one
End mounting hole is connected through a screw thread fixation.
Right side leg (B), as shown in figure 3, including right rack (B1), right sliding block (B8), right head rod (B2), the right side second
Connecting rod (B3), right 3rd connecting rod (B4), right 4th connecting rod (B5), right 5th connecting rod (B6), right 6th connecting rod
(B7), right 7th connecting rod (B9), right 8th connecting rod (B10)；
Right head rod (B2), right second connecting rod (B3), right 5th connecting rod (B6), right 6th connecting rod (B7) and
Right 7th connecting rod (B9) both ends have a mounting hole；Right 3rd connecting rod (B4) is triangle rod piece；The right side the 3rd connects
Extension bar (B4) is respectively provided with a mounting hole on three vertex, and a mounting hole is respectively provided with the middle part of two shorter edges；The right side the 4th
Connecting rod (B5) and right 8th connecting rod (B10) respectively arrange a mounting hole in end and middle part；Right rack (B1) is opened on top
There is a sliding slot, be disposed with three rod piece mounting holes, two motor holes and one and the connecting hole of trailer (C)；Right sliding block (B8)
For H-type block member, right sliding block (B8) outer end face is provided with a threaded hole.
Connection mode between right side leg (B) rod piece is：The other end of double output shaft electric machines (1) passes through right rack (B1) and the right side
Head rod (B2) is fixedly connected by jackscrew；The other end mounting hole of right head rod (B2) and right 3rd connecting rod
(B4) vertex mounting hole is rotated hinged by axis pin；The end mounting hole of right second connecting rod (B3) and right rack (B1) lower section
Another mounting hole rotated by axis pin it is hinged；The other end mounting hole of right second connecting rod (B3) and right 3rd connecting rod
(B4) middle part mounting hole is rotated hinged by axis pin；The end mounting hole of right 4th connecting rod (B5) and right 7th connecting rod
(B9) end mounting hole is rotated hinged by axis pin；The middle part mounting hole of right 4th connecting rod (B5) and right 3rd connecting rod
(B4) apex angle mounting hole is rotated hinged by axis pin；The end mounting hole of right 5th connecting rod (B6) and right 3rd connecting rod
(B4) another middle part mounting hole is rotated hinged by axis pin；The other end mounting hole of right 5th connecting rod (B6) and the right side the 6th
The end mounting hole of connecting rod (B7) is rotated hinged by axis pin；The other end mounting hole of right 6th connecting rod (B7) and right the
The middle part mounting hole of eight connecting rods (B10) is rotated hinged by axis pin；The end mounting hole of right 8th connecting rod (B10) and right the
The another summit mounting hole of three connecting rods (B4) is rotated hinged by axis pin；The other end mounting hole of right 7th connecting rod (B9)
Rotated and be hinged by axis pin with the middle part mounting hole of right rack (B1)；Right sliding block (B8) is stuck in the sliding slot of right rack (B1), with
Sliding slot is formed and is slidably matched.The threaded hole of right sliding block (B8) outer end face and right five, the 6th connecting rods (B6, B7), each one
End mounting hole is connected through a screw thread fixation.
Claims (2)
- A kind of 1. positive and negative double step gait legged type robot, it is characterised in that：The positive and negative double step gait legged type robot includes left side leg (A), right side leg (B), trailer (C)；The left side leg (A) is single-degree-of-freedom linkage, close to two electricity of left head rod (A2) on left frame (A1) Machine mounting hole is coordinated by the side of screw and double output shaft electric machines (1) to be fixed；The output shaft of double output shaft electric machines (1) passes through left frame (A1) it is fixedly connected with left head rod (A2) by jackscrew；Left side leg (A) is 10 linkages, it can be achieved that both with positive and negative Walking movement；The right side leg (B) is single-degree-of-freedom linkage, two motors of head rod (B2) of keeping right on right rack (B1) Mounting hole is coordinated by the opposite side of screw and double output shaft electric machines (1) to be fixed；Another output shaft of double output shaft electric machines (1) passes through the right side Rack (B1) is fixedly connected with right head rod (B2) by jackscrew；Right side leg (B) is 10 linkages, it can be achieved that positive and negative simultaneous The walking movement of tool；The left side leg (A) and right side leg (B) are located at motor both sides arrangement, left head rod (A2) and the right side of left side leg (A) Right head rod (B2) pivot center of side leg (B) overlaps, and integral cycle rotating, 180 ° of phase difference are driven by double output shaft electric machines (1)；By above-mentioned connection, the assembling of left and right side leg (A, B) and double output shaft electric machines (1) is completed；The trailer (C) is by right wheel (C1), left wheel (C3), axletree (C2), trailer head rod (C4), trailer second Connecting rod (C5), connecting shaft (C6) composition；The left and right wheel (C1, C3) of trailer (C) is connected by axletree (C2)；Trailer first, One end mounting hole of second connecting rod (C4, C5) is passed through by axletree (C2), realizes rotation connection；Trailer first, second connects The other end mounting hole of bar (C4, C5) is passed through by connecting shaft (C6)；Connecting shaft (C6) one end is connected with left frame (A1), the other end It is connected with right rack (B1), realizes the connection of trailer (C) and left and right side leg (A, B)；By above-mentioned connection, the assembling of the positive and negative double step gait legged type robot, the both sides output shaft of double output shaft electric machines (1) are completed Drive left and right head rod (A2, B2) complete cycle to turn round respectively, realize the movement of positive and negative double step gait legged type robot.
- 2. positive and negative double step gait legged type robot according to claim 1, it is characterised in that：The left side leg (A) include left frame (A1), left slider (A8), left head rod (A2), left second connecting rod (A3), Left 3rd connecting rod (A4), left 4th connecting rod (A5), left 5th connecting rod (A6), left 6th connecting rod (A7), a left side the 7th connect Extension bar (A9), left 8th connecting rod (A10)；Left head rod (A2), left second connecting rod (A3), left 5th connecting rod (A6), left 6th connecting rod (A7) and a left side the Seven connecting rods (A9) both ends have a mounting hole；Left 3rd connecting rod (A4) is triangle rod piece；Left 3rd connecting rod (A4) mounting hole is respectively provided with three vertex, a mounting hole is respectively provided with the middle part of two shorter edges；A left side the 4th connects Bar (A5) and left 8th connecting rod (A10) respectively arrange a mounting hole in end and middle part；Left frame (A1) is provided with one on top A sliding slot, is disposed with three rod piece mounting holes, two motor holes and one and the connecting hole of trailer (C)；Left slider (A8) is H-type Block member, left slider (A8) outer end face are provided with a threaded hole；Connection mode between left side leg (A) rod piece is：One end of double output shaft electric machines (1) connects through left frame (A1) and a left side first Extension bar (A2) is fixedly connected by jackscrew；The other end mounting hole of left head rod (A2) and left 3rd connecting rod (A4) One vertex mounting hole is rotated hinged by axis pin；Below the end mounting hole and left frame (A1) of left second connecting rod (A3) Another mounting hole is rotated hinged by axis pin；The other end mounting hole of left second connecting rod (A3) and left 3rd connecting rod (A4) A middle part mounting hole rotated by axis pin it is hinged；The end mounting hole of left 4th connecting rod (A5) and left 7th connecting rod (A9) end mounting hole is rotated hinged by axis pin；The middle part mounting hole of left 4th connecting rod (A5) and left 3rd connecting rod (A4) apex angle mounting hole is rotated hinged by axis pin；The end mounting hole of left 5th connecting rod (A6) and left 3rd connecting rod (A4) another middle part mounting hole is rotated hinged by axis pin；The other end mounting hole of left 5th connecting rod (A6) and a left side the 6th The end mounting hole of connecting rod (A7) is rotated hinged by axis pin；The other end mounting hole of left 6th connecting rod (A7) and left the The middle part mounting hole of eight connecting rods (A10) is rotated hinged by axis pin；The end mounting hole of left 8th connecting rod (A10) and left the The another summit mounting hole of three connecting rods (A4) is rotated hinged by axis pin；The other end mounting hole of left 7th connecting rod (A9) Rotated and be hinged by axis pin with the middle part mounting hole of left frame (A1)；Left slider (A8) is stuck in the sliding slot of left frame (A1), with Sliding slot is formed and is slidably matched, the threaded hole of left slider (A8) outer end face and each end of left five, the 6th connecting rods (A6, A7) Portion's mounting hole is connected through a screw thread fixation；The right side leg (B) includes right rack (B1), right sliding block (B8), right head rod (B2), right second connecting rod (B3), right 3rd connecting rod (B4), right 4th connecting rod (B5), right 5th connecting rod (B6), right 6th connecting rod (B7), right the Seven connecting rods (B9), right 8th connecting rod (B10)；Design of part, size, connection relation and the free degree of right side leg (B) are identical with left side leg (A).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610185056.8A CN105818879B (en) | 2016-03-29 | 2016-03-29 | A kind of positive and negative double step gait legged type robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610185056.8A CN105818879B (en) | 2016-03-29 | 2016-03-29 | A kind of positive and negative double step gait legged type robot |
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| Publication Number | Publication Date |
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| CN105818879A CN105818879A (en) | 2016-08-03 |
| CN105818879B true CN105818879B (en) | 2018-05-04 |
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| CN201610185056.8A Active CN105818879B (en) | 2016-03-29 | 2016-03-29 | A kind of positive and negative double step gait legged type robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109229228B (en) * | 2018-11-13 | 2020-05-22 | 北京交通大学 | Wheel-leg combined robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102303656A (en) * | 2011-06-16 | 2012-01-04 | 崇左市红超人机械科技开发有限公司 | Wheel leg type walking device |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080296870A1 (en) * | 2007-06-04 | 2008-12-04 | Archer Geoffrey C | Trailer hitch assembly for a bomb disposal robot method therefor |
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- 2016-03-29 CN CN201610185056.8A patent/CN105818879B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068819A (en) * | 2010-12-14 | 2011-05-25 | 北京交通大学 | Single-power four-foot walking mechanism |
| CN102303656A (en) * | 2011-06-16 | 2012-01-04 | 崇左市红超人机械科技开发有限公司 | Wheel leg type walking device |
| CN103407515A (en) * | 2013-07-23 | 2013-11-27 | 北京交通大学 | Dual-mode travel mechanism |
| CN104608837A (en) * | 2015-01-16 | 2015-05-13 | 燕山大学 | Wheel-leg composite type four-leg robot |
| CN105109572A (en) * | 2015-08-26 | 2015-12-02 | 北京航空航天大学 | Single-leg structure for wheel-legged type robot in leg-arm mixing operation |
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| CN105818879A (en) | 2016-08-03 |
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