CN105881525A - Salamander-like robot - Google Patents
Salamander-like robot Download PDFInfo
- Publication number
- CN105881525A CN105881525A CN201610133270.9A CN201610133270A CN105881525A CN 105881525 A CN105881525 A CN 105881525A CN 201610133270 A CN201610133270 A CN 201610133270A CN 105881525 A CN105881525 A CN 105881525A
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- joint
- tail
- abdomen
- tooth
- chest
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- 210000001015 abdomen Anatomy 0.000 claims abstract description 55
- 230000003187 abdominal effect Effects 0.000 claims description 45
- 210000000038 chest Anatomy 0.000 claims description 43
- 210000000481 breast Anatomy 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 14
- 210000003141 lower extremity Anatomy 0.000 claims description 12
- 230000004927 fusion Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 4
- 230000009916 joint effect Effects 0.000 claims description 2
- 239000011664 nicotinic acid Substances 0.000 abstract description 4
- 230000002457 bidirectional effect Effects 0.000 abstract 2
- 230000007246 mechanism Effects 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a salamander-like robot, relates to an underwater bionic robot and aims at providing a salamander-like robot which is high in bionic degree, diverse in drive structure and large in freedom of motion. The salamander-like robot comprises a chest joint, an abdomen joint and multiple tail joints. Each of the chest joint, the abdomen joint and the tail joints comprises a rigid shell. A vertical rod of a bidirectional cross-shaped tooth set of the chest joint is axially fixed to an abdomen shaft support of the abdomen joint. Transverse teeth of the bidirectional cross-shaped tooth set are engaged with abdomen drive teeth of the abdomen joint. The multiple tail joints are connected end to end, wherein a connecting arm of each tail joint on the left side is fixedly connected with a left bottom plate of the rigid shell of the corresponding tail joint on the right side, and a connecting arm of the tail joint on the rightmost side is fixedly connected with a left bottom plate of the rigid shell of the abdomen joint. An elastic hose is further arranged between the chest joint and the abdomen joint, an elastic hose is further arranged between the abdomen joint and the corresponding tail joint, and an elastic hose is further arranged between every two adjacent tail joints; and the elastic hoses completely seal gaps between the corresponding joints.
Description
Technical field
The present invention is novel relates to underwater bionic robot field, for a kind of multi-joint driving leg limb new composite class newt robot.
Background technology
When Ocean plays the most important effect to the development of various countries, strengthen Ocean Awareness, plan the "Oceanic" strategy, carved
Do not allow to delay.The either exploration of marine resources, the collection of variation of seawater information, halobiontic research or military information are scouted
With the development that information acquisition all relies on Underwater Technology.Underwater bionic robot has changed into the focus of research both at home and abroad.Imitate under water
Raw robot, as robotics, automatically controls and the platform of artificial intelligence study, becomes people and studies underwater robot and move about
The object of study of performance, drag reduction mechanisms and human-computer interaction intelligent.
Chinese patent CN103318287A discloses a kind of bionical Eremiatis argi amphibious robot；This robot, including by outside
Framework, body portion that inner frame, drive mechanism are constituted and by the four set legs that constitute of crank and rocker mechanisms；Wherein inner frame
Inside it is provided with in the driving externally-located framework of motor, drive mechanism drives motor impart power to position by two set deceleration devices
In the power transmission shaft in inner frame front Yu rear, thus make the crank and rocker mechanism motion that power transmission shaft drives power transmission shaft two ends to install；
Sole is installed below described crank and rocker mechanism, motion can realize bionical Eremiatis argi amphibious robot at water surface walking process
In bounce, swat, reduce three key operations in realizing process of the present invention.
Inventor finds that in prior art, at least there are the following problems: in existing water, bio-robot there is also and drives structure single,
The problems such as robot motion is limited in one's ability.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of bionical degree height, drives various structures, the class that freedom of motion is bigger
Newt robot.
The present invention one kind newt robot, including: breast joint, abdomen joint and multiple tail joint；Breast joint, abdomen joint and tail
Joint all includes stiff case；
Chest steering wheel, chest driving tooth, chest driven tooth, chest bracing strut it is provided with at the left bottom plate of breast joint rigidity housing
With two-way cross tooth group；Wherein, chest steering wheel is fixedly installed on the right flank of breast joint rigidity housing left bottom plate, and chest is actively
Tooth is fixing with chest steering wheel output shaft to be connected；Chest bracing strut is fixedly installed on the left surface of breast joint rigidity housing left bottom plate,
Described chest driven tooth, the cross bar of two-way cross tooth group are axially fixed on chest bracing strut respectively；Chest driven tooth and chest master
Dynamic tooth engagement, the perpendicular tooth of two-way cross tooth group engages with chest driven tooth；
Abdominal part steering wheel, abdominal part driving tooth, abdominal part driven tooth and abdominal part bracing strut it is provided with at the right base plate of abdomen joint rigidity housing；
Wherein, abdominal part steering wheel is fixedly installed on the left surface of the abdomen right base plate of joint rigidity housing, and abdominal part driving tooth exports with abdominal part steering wheel
Axle is fixing to be connected；Abdominal part bracing strut is fixedly installed on the right flank of the abdomen right base plate of joint rigidity housing；Abdominal part driven tooth passes through axle
Bar is axially fixed on abdominal part bracing strut；Abdominal part driven tooth engages with abdominal part driving tooth；
Afterbody steering wheel, afterbody driving tooth, afterbody driven tooth, afterbody bracing strut it is provided with at the right base plate of tail joint rigidity housing
And linking arm；Wherein, afterbody steering wheel is fixedly installed on the left surface of the tail right base plate of joint rigidity housing, afterbody driving tooth and tail
Portion's steering wheel output shaft is fixing to be connected；Afterbody bracing strut is fixedly installed on the right flank of the tail right base plate of joint rigidity housing；Afterbody from
Dynamic tooth is axially fixed on afterbody bracing strut by axostylus axostyle；Afterbody driven tooth engages with afterbody driving tooth；The left end of linking arm and axle
Bar is fixing to be connected；
The montant of the two-way cross tooth group in breast joint is axially fixed on the abdominal part bracing strut in abdomen joint；The contrate of two-way cross tooth group
Engage with the abdominal part driven tooth in abdomen joint；
Multiple tail joints join end to end, and wherein the linking arm in tail joint, left side and the left bottom plate of right side tail joint rigidity housing are fixing even
Connect；The linking arm in tail joint, the rightmost side is fixing with the left bottom plate of abdomen joint rigidity housing to be connected；
It is also respectively provided with bullet between breast joint and abdomen joint, between abdomen joint and tail joint and between tail joint and tail joint
Property flexible pipe, the gap between corresponding joint is fully sealed by each elastic hose respectively.
The present invention one kind newt robot, wherein in both sides, breast joint, both sides, abdomen joint be mounted on profiling lower limb；In breast joint
Stiff case inner chamber, abdomen joint rigidity housing cavity are separately provided for driving the motor of profiling lower limb motion；In at least one tail
The both sides in joint are provided with wheel.
The present invention one kind newt robot, wherein the left side in rightmost side tail joint is bullet-shaped.
The present invention one kind newt robot, also includes, attitude sensor, pressure transducer, sensor data fusion module,
Host computer, communication module and micro treatment module；
Attitude sensor, pressure transducer input with sensor data fusion module respectively is connected；Sensor data fusion mould
Block outfan input with communication module and micro treatment module respectively is connected；
Host computer is bi-directionally connected with communication module；The outfan of communication module is connected with the input of micro treatment module；Micro-process mould
The outfan of block respectively with driving module, the driving module of abdominal part steering wheel, the driving module of afterbody steering wheel of chest steering wheel and respectively use
It is connected in the driving module driving profiling lower limb motion motor.
The present invention one kind newt robot includes breast joint, abdomen joint and tail joint, and the whole physiology substantially containing newt are special
Levy；Additionally the breast joint in the present invention, abdomen joint and tail joint have respective drive system respectively, it is achieved thereby that each joint it
Between the overall coordination exercise of relative motion and robot.In a word, newt has been carried out the most bionical by the present invention, drives structure many
Sample, the significant increase freedom of motion of underwater robot, explore for ocean and lay a good foundation.
Below in conjunction with the accompanying drawings class of the present invention newt robot is described further.
Accompanying drawing explanation
Fig. 1 is the front view of class of the present invention newt robot；
Fig. 2 is the top view of class of the present invention newt robot；
Fig. 3 is the axonometric chart of class of the present invention newt robot, wherein entirety has been carried out 1/4 cutting；
Fig. 4 is the structural representation in class newt robot mesothorax joint of the present invention；
Fig. 5 is the structural representation in joint, class newt robot midfield of the present invention；
Fig. 6 is the tail articulation structure schematic diagram of common shape in class of the present invention newt robot；
Fig. 7 is the tail articulation structure schematic diagram of class of the present invention newt robot neutron warhead shape；
Fig. 8 is the annexation figure in class newt robot mesothorax joint of the present invention and abdomen joint；
Fig. 9 is the structural representation of two-way cross tooth group in breast joint；
Figure 10 is the annexation figure in joint, class newt robot midfield of the present invention and tail joint；
Figure 11 is the annexation figure in tail joint and tail joint in class of the present invention newt robot；
Figure 12 is the annexation figure in the control system that class of the present invention newt robot comprises between each module.
Detailed description of the invention
The present invention one kind newt robot, including: mechanical system and control system；
Mechanical system
As Figure 1-3, mechanical system includes: breast joint 1, abdomen joint 2 and multiple tail joint 3；Breast joint 1, abdomen joint
2 and tail joint 3 all include streamlined stiff case.
As shown in Figure 4, at the left bottom plate of breast joint rigidity housing 11, chest steering wheel 12, chest driving tooth it are provided with (in figure
Not shown), chest bracing strut 13, chest driven tooth 14 and two-way cross tooth group 15.As it is shown in figure 9, two-way cross tooth group 15
The cross bar arranged including decussation and montant, the right flank in cross bar is provided with perpendicular tooth, and montant left surface is provided with contrate.
Chest steering wheel 12 is fixedly installed on the right flank of breast joint rigidity housing left bottom plate, and chest driving tooth is defeated with chest steering wheel 12
Shaft is fixing to be connected；Chest bracing strut 13 is fixedly installed on the left surface of breast joint rigidity housing left bottom plate, chest driven tooth
14, the cross bar 151 of two-way cross tooth group 15 is axially fixed on chest bracing strut 13；Chest driven tooth 14 and chest driving tooth
Engagement, the perpendicular tooth 153 of two-way cross tooth group 15 engages with chest driven tooth 14.
As it is shown in figure 5, be provided with abdominal part steering wheel 22, abdominal part driving tooth 23, abdomen at the right base plate of abdomen joint rigidity housing 21
Portion's bracing strut 24 and abdominal part driven tooth 25.Abdominal part steering wheel 22 is fixedly installed on the left surface of the abdomen right base plate of joint rigidity housing,
Abdominal part driving tooth 23 is fixing with the output shaft of abdominal part steering wheel 22 to be connected；Abdominal part bracing strut 24 is fixedly installed on abdomen joint rigidity housing
On the right flank of right base plate；Abdominal part driven tooth 25 is axially fixed on abdominal part bracing strut 24 by axostylus axostyle；Abdominal part driven tooth 25 with
Abdominal part driving tooth 23 engages.
As shown in Figure 6, at the right base plate of tail joint rigidity housing 31, afterbody steering wheel 32, afterbody driving tooth 33, tail it are provided with
Portion's driven tooth 34, afterbody bracing strut 37 and linking arm 36；Wherein, afterbody steering wheel 32 is fixedly installed on the tail joint rigidity housing right side
On the left surface of base plate, afterbody driving tooth 33 is fixing with the output shaft of afterbody steering wheel 32 to be connected；Afterbody bracing strut 37 is fixedly installed
On the right flank of the tail right base plate of joint rigidity housing；Afterbody driven tooth 34 is axially fixed at afterbody bracing strut 37 by axostylus axostyle 35
On；Afterbody driven tooth 34 engages with afterbody driving tooth 33；The left end of linking arm 36 is fixing with axostylus axostyle 35 to be connected；
As shown in Figure 8,9, the annexation between breast joint and abdomen joint is: the montant of the two-way cross tooth group 15 in breast joint
152 are axially fixed on the abdominal part bracing strut 24 in abdomen joint；The contrate 154 of two-way cross tooth group 15 and the abdominal part in abdomen joint from
Dynamic tooth 25 engages, and now defines a two degree-of-freedom joint between breast joint and abdomen joint.
As shown in Figure 10, the annexation between abdomen joint and tail joint is: linking arm 36 and the abdomen joint in tail joint, the rightmost side
The left bottom plate of stiff case 21 is fixing to be connected, and now defines a single-DOF-joint between abdomen joint and tail joint.
As shown in figure 11, the annexation between multiple tail joints is: multiple tail joints join end to end, wherein tail joint, left side
Linking arm 36 is fixing with the left bottom plate of right side tail joint rigidity housing 31 to be connected.The streamlined effect overall in order to improve the present invention,
As it is shown in fig. 7, the left side in tail joint, the rightmost side is designed as bullet-shaped, between two the tail joints being now connected, define one
Individual single-DOF-joint.
As Figure 1-3, between breast joint 1 and abdomen joint 2, between abdomen joint 2 and tail joint 3 and tail joint 3 with
Being also respectively provided with elastic hose 4 between tail joint 3, the gap between corresponding joint is fully sealed by each elastic hose 4 respectively.
Overall appearance of the present invention is streamlined.
Further, in order to widen the suitable environment of the present invention, in the both sides, breast joint of class newt robot, both sides, abdomen joint equal
Profiling lower limb 6 is installed；It is separately provided for driving profiling lower limb in breast joint rigidity housing cavity, abdomen joint rigidity housing cavity
The motor of motion；In the both sides at least one tail joint 3, wheel 5 is installed.Thus, class of the present invention newt robot fits simultaneously
Using for land, the power that now profiling lower limb 6 advances as robot, wheel 5 plays the effect supporting robot health.
Control system
As shown in figure 12, control system includes: attitude sensor, pressure transducer, sensor data fusion module, host computer,
Communication module and micro treatment module；Wherein, attitude sensor, pressure transducer are arranged at the bottom of breast joint rigidity housing.
Attitude sensor, pressure transducer input with sensor data fusion module respectively is connected；Sensor data fusion mould
Block outfan input with communication module and micro treatment module respectively is connected；Host computer is bi-directionally connected with communication module；Communication mould
The outfan of block and the input of micro treatment module be connected；The outfan of micro treatment module respectively with the driving module of chest steering wheel,
The driving module of abdominal part steering wheel, the driving module of afterbody steering wheel and respectively for drive profiling lower limb motion motor driving module be connected.
The flow direction of control system signal is as follows:
Attitude sensor, pressure transducer gather robot posture and local environment pressure respectively；Then the information collected is sent out
Give sensor data fusion module；Then the data received are analyzed processing by sensor data fusion module, and will divide
Analysis result lead up to communication module be sent to host computer storage standby, another road is sent to micro treatment module；Then host computer leads to
Crossing communication module and micro treatment module sends control instruction, instruction and sensor information that the comprehensive host computer of micro treatment module sends are melted
The analysis result that compound module sends, selectivity controls the driving module of chest steering wheel, the driving module of abdominal part steering wheel, afterbody steering wheel
Driving module and respectively for driving the driving module of profiling lower limb motion motor, thus realize the control to mechanical system motion.
Class of the present invention newt robot is travelling under water to be achieved by: the double freedom formed between breast joint and abdomen joint closes
Joint is responsible for the control of entirety swimming direction of the present invention, and formed between abdomen joint and tail joint, between tail joint and tail joint is multiple
Single-DOF-joint is responsible for providing the power advanced；When needs accelerate travelling, profiling lower limb can be started.
Embodiment described above is only to be described the preferred embodiment of the present invention, not carries out the scope of the present invention
Limiting, on the premise of designing spirit without departing from the present invention, technical scheme is made by those of ordinary skill in the art
Various deformation and improvement, all should fall in the protection domain that claims of the present invention determines.
Claims (4)
1. a kind newt robot, including: breast joint, abdomen joint and multiple tail joint；Breast joint, abdomen joint and tail joint are equal
Including stiff case；
Chest steering wheel, chest driving tooth, chest driven tooth, chest bracing strut it is provided with at the left bottom plate of breast joint rigidity housing
With two-way cross tooth group；Wherein, chest steering wheel is fixedly installed on the right flank of breast joint rigidity housing left bottom plate, and chest is actively
Tooth is fixing with chest steering wheel output shaft to be connected；Chest bracing strut is fixedly installed on the left surface of breast joint rigidity housing left bottom plate,
Chest driven tooth, the cross bar of two-way cross tooth group are axially fixed on chest bracing strut respectively；Chest driven tooth and chest driving tooth
Engagement, the perpendicular tooth of two-way cross tooth group engages with chest driven tooth；
Abdominal part steering wheel, abdominal part driving tooth, abdominal part driven tooth and abdominal part bracing strut it is provided with at the right base plate of abdomen joint rigidity housing；
Wherein, abdominal part steering wheel is fixedly installed on the left surface of the abdomen right base plate of joint rigidity housing, and abdominal part driving tooth exports with abdominal part steering wheel
Axle is fixing to be connected；Abdominal part bracing strut is fixedly installed on the right flank of the abdomen right base plate of joint rigidity housing；Abdominal part driven tooth passes through axle
Bar is axially fixed on abdominal part bracing strut；Abdominal part driven tooth engages with abdominal part driving tooth；
Afterbody steering wheel, afterbody driving tooth, afterbody driven tooth, afterbody bracing strut it is provided with at the right base plate of tail joint rigidity housing
And linking arm；Wherein, afterbody steering wheel is fixedly installed on the left surface of the tail right base plate of joint rigidity housing, afterbody driving tooth and tail
Portion's steering wheel output shaft is fixing to be connected；Afterbody bracing strut is fixedly installed on the right flank of the tail right base plate of joint rigidity housing；Afterbody from
Dynamic tooth is axially fixed on afterbody bracing strut by axostylus axostyle；Afterbody driven tooth engages with afterbody driving tooth；The left end of linking arm and axle
Bar is fixing to be connected；
The montant of the two-way cross tooth group in breast joint is axially fixed on the abdominal part bracing strut in abdomen joint；The contrate of two-way cross tooth group
Engage with the abdominal part driven tooth in abdomen joint；
Multiple tail joints join end to end, and wherein the linking arm in tail joint, left side and the left bottom plate of right side tail joint rigidity housing are fixing even
Connect；The linking arm in tail joint, the rightmost side is fixing with the left bottom plate of abdomen joint rigidity housing to be connected；
It is also respectively provided with bullet between breast joint and abdomen joint, between abdomen joint and tail joint and between tail joint and tail joint
Property flexible pipe, the gap between corresponding joint is fully sealed by each elastic hose respectively.
A kind newt robot the most according to claim 1, it is characterised in that: in both sides, breast joint, both sides, abdomen joint equal
Profiling lower limb is installed；It is separately provided for driving profiling lower limb fortune in breast joint rigidity housing cavity, abdomen joint rigidity housing cavity
Dynamic motor；In the both sides at least one tail joint, wheel is installed.
A kind newt robot the most according to claim 1, it is characterised in that: the left side in tail joint, the rightmost side is son
Bullet type.
A kind newt robot the most according to claim 1, it is characterised in that: also including, attitude sensor, pressure pass
Sensor, sensor data fusion module, host computer, communication module and micro treatment module；
Attitude sensor, pressure transducer input with sensor data fusion module respectively is connected；Sensor data fusion mould
Block outfan input with communication module and micro treatment module respectively is connected；
Host computer is bi-directionally connected with communication module；The outfan of communication module is connected with the input of micro treatment module；Micro-process mould
The outfan of block respectively with driving module, the driving module of abdominal part steering wheel, the driving module of afterbody steering wheel of chest steering wheel and respectively use
It is connected in the driving module driving profiling lower limb motion motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610133270.9A CN105881525A (en) | 2016-03-09 | 2016-03-09 | Salamander-like robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610133270.9A CN105881525A (en) | 2016-03-09 | 2016-03-09 | Salamander-like robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105881525A true CN105881525A (en) | 2016-08-24 |
Family
ID=57014505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610133270.9A Pending CN105881525A (en) | 2016-03-09 | 2016-03-09 | Salamander-like robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105881525A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN108638036A (en) * | 2018-07-13 | 2018-10-12 | 长沙紫宸科技开发有限公司 | A kind of multifunctional bionic machinery chela of the autonomous distributed power of band |
| CN108705525A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail with flexible joint |
| CN108928450A (en) * | 2018-07-11 | 2018-12-04 | 哈尔滨工程大学 | A kind of underwater flying method of multi-foot robot |
| CN108945359A (en) * | 2018-07-11 | 2018-12-07 | 哈尔滨工程大学 | A kind of multi-foot robot underwater gliding method |
| CN111552301A (en) * | 2020-06-21 | 2020-08-18 | 南开大学 | Hierarchical control method for salamander robot path tracking based on reinforcement learning |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN113715569A (en) * | 2021-09-23 | 2021-11-30 | 南京信息工程大学 | Amphibious robot and control method thereof |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN114074726A (en) * | 2021-12-06 | 2022-02-22 | 北京交通大学 | Salamander-imitating robot |
| US11305420B2 (en) * | 2018-05-31 | 2022-04-19 | Virginia Tech Intellectual Properties, Inc. | Articulated multi-link robotic tail systems and methods |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107984465A (en) * | 2017-11-28 | 2018-05-04 | 常州大学 | A kind of bio-robot based on wriggling movement pattern with doubly-linked bar joint |
| CN107984465B (en) * | 2017-11-28 | 2020-10-27 | 常州大学 | Bionic robot with double-link joint based on winding motion mode |
| US11305420B2 (en) * | 2018-05-31 | 2022-04-19 | Virginia Tech Intellectual Properties, Inc. | Articulated multi-link robotic tail systems and methods |
| CN108945359A (en) * | 2018-07-11 | 2018-12-07 | 哈尔滨工程大学 | A kind of multi-foot robot underwater gliding method |
| CN108928450A (en) * | 2018-07-11 | 2018-12-04 | 哈尔滨工程大学 | A kind of underwater flying method of multi-foot robot |
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| CN108638036A (en) * | 2018-07-13 | 2018-10-12 | 长沙紫宸科技开发有限公司 | A kind of multifunctional bionic machinery chela of the autonomous distributed power of band |
| CN108705525A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail with flexible joint |
| CN108705525B (en) * | 2018-08-07 | 2023-09-12 | 长沙紫宸科技开发有限公司 | Bionic scorpion tail with flexible joint |
| CN111552301A (en) * | 2020-06-21 | 2020-08-18 | 南开大学 | Hierarchical control method for salamander robot path tracking based on reinforcement learning |
| CN111552301B (en) * | 2020-06-21 | 2022-05-20 | 南开大学 | Hierarchical control method for salamander robot path tracking based on reinforcement learning |
| CN112091988A (en) * | 2020-08-13 | 2020-12-18 | 宁波大学 | Software bionic underwater detection robot |
| CN113715569A (en) * | 2021-09-23 | 2021-11-30 | 南京信息工程大学 | Amphibious robot and control method thereof |
| CN113715569B (en) * | 2021-09-23 | 2023-02-14 | 南京信息工程大学 | Amphibious robot and control method thereof |
| CN114055489A (en) * | 2021-11-16 | 2022-02-18 | 三明学院 | Centipede-imitating robot |
| CN114074726A (en) * | 2021-12-06 | 2022-02-22 | 北京交通大学 | Salamander-imitating robot |
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