CN106741277A - A kind of hybrid mechanical leg organization - Google Patents
A kind of hybrid mechanical leg organization Download PDFInfo
- Publication number
- CN106741277A CN106741277A CN201510811769.6A CN201510811769A CN106741277A CN 106741277 A CN106741277 A CN 106741277A CN 201510811769 A CN201510811769 A CN 201510811769A CN 106741277 A CN106741277 A CN 106741277A
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- Prior art keywords
- joint
- motor
- sole
- ankle
- shank
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Classifications
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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
- B62D57/032—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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a kind of hybrid mechanical leg organization, including sole, ankle-joint, shank, knee joint, thigh, hip joint and trunk；Sole, for providing an attitude and position constant platform for pedipulator；Ankle-joint, for connecting sole and shank, ankle-joint uses parallel connection type joint, can control to roll the free degree with pitch freedom motion；Shank, drives first motor and the second motor of ankle-joint, two motors to be connected with sole by roller screw, connecting rod and spherical joint for installing；Knee joint, for connecting thigh and shank；Thigh, for installing the 4th motor for driving kneed 3rd motor and driving hip joint；Hip joint, for connecting the trunk and thigh, and installs the 5th motor for driving hip joint；Trunk, the 6th motor of hip joint is driven for installing.
Description
【Technical field】
The present invention relates to biped robot's technical field, more particularly to a kind of novel mixed mechanical leg organization.
【Background technology】
Traditional anthropomorphic robot leg mechanism uses tandem type articulation structure or parallel connection type articulation structure.
The articulation structure that tandem type articulation structure formula is used by most of anthropomorphic robots, it is possible to achieve six certainly
By the leg structure spent, and the ball joint of standard is realized at the hip joint of robot, use standard
The computation of inverse- kinematics method.
But, the ankle in tandem type joint need to be by a motor and decelerator, installed in robot
Sole at, cause robot to there is the larger sole of a weight, influence Robotic Dynamic responding ability.
The motor of ankle can be placed in shank position by parallel connection type articulation structure, to mitigate the weight of sole
Amount, improves the responding ability of pedipulator end；However, the hip region of pedipulator is difficult to form standard
Ball joint, causes the anthropomorphic robot control of parallel connection type articulation structure complex.
Modern machines man-based development requirement robot has preferable locomitivity and reaction speed, and this is just needed
Want robot joint structure rationally, there is structure and the control of standard while end response speed is ensured
Algorithm.
【The content of the invention】
Based on this, it is an object of the invention to provide a kind of hybrid mechanical leg organization, realize reducing sole
Weight, improves response speed.
In order to realize the purpose of the present invention, there is provided a kind of hybrid mechanical leg organization, including sole, ankle-joint,
Shank, knee joint, thigh, hip joint and trunk；The sole, for for pedipulator provide an attitude and
The constant platform in position；The ankle-joint, for connecting the sole and shank, the ankle-joint is using in parallel
Type joint；The shank, first motor and the second motor of ankle-joint, first electricity are driven for installing
Machine and the second motor are connected by connecting rod with the sole；The knee joint, for connecting the thigh and small
Leg；The thigh, for installing the 4th motor for driving kneed 3rd motor and driving hip joint；Institute
Hip joint is stated, for connecting the trunk and thigh and installing the 5th motor for driving hip joint；The body
It is dry, the 6th motor of hip joint is driven for installing.
Preferably, the center of gravity of the sole is fixed with one end of ankle-joint.
Preferably, the ankle-joint is universal joint；One end of the universal joint is fixed with sole, described universal
The other end of section is fixed with shank.
Preferably, the knee joint is single-DOF-joint；One end of the single-DOF-joint and thigh phase
Connection, the other end of the single-DOF-joint is connected with the shank.
Preferably, the 3rd motor and the 4th motor are converted to the rotary motion of motor by roller bearing screw mandrel
The linear motion of sliding block；The sliding block drives the rotary motion of knee joint and hip joint by link transmission.
Preferably, the connecting rod for interlocking driving hip joint is forked link.
Preferably, the hip joint is ball joint, and the hip joint installs drive pedipulator to roll the 5th
Motor.
Preferably, the 5th motor passes through two-stage gear drive.
Preferably, the trunk is connected by bearing with the hip joint.
Prior art is different from, above-mentioned hybrid mechanical leg organization is closed by sole, ankle-joint, shank, knee
Section, thigh, hip joint and trunk are constituted, wherein, ankle-joint, for connecting sole and shank, ankle is closed
Section is using parallel connection type joint；Shank, first motor and the second motor of ankle-joint are driven for installing, and this
One motor and the second motor are connected by connecting rod with sole；Knee joint, for connecting thigh and shank；Thigh,
For installing the 4th motor for driving kneed 3rd motor and driving hip joint；Hip joint, for connecting
Trunk and thigh and the 5th motor for driving hip joint is installed；Trunk, the of hip joint is driven for installing
Six motors.Parallel connection type articulation structure is used in ankle using the present invention, this is in ankle using in parallel
Type articulation structure, motor is arranged at shank, is driven by way of roller screw and link transmission
The sole of mobile robot is realized rolling and pitch freedom, the sole position of pedipulator is not disposed motor, real
The lightweight of existing moving end, improves response speed；Mutually tied with gear drive using link transmission at hip joint
The mixed drive mode of conjunction, and tandem type articulation structure is formd with this, the spherical joint of standard is realized,
In the case of meeting hip joint motion requirement, the interference between the different frees degree is greatly avoided.
【Brief description of the drawings】
Fig. 1 is a kind of positive structure schematic of hybrid mechanical leg organization in one embodiment of the invention.
Fig. 2 is a kind of side structure schematic diagram of hybrid mechanical leg organization in one embodiment of the invention.
Description of reference numerals：
1st, sole；2nd, ankle-joint；3rd, shank；4th, knee joint；5th, thigh；
6th, hip joint；7th, trunk；8th, the first motor；9th, the second motor；10th, the 3rd motor；
11st, the 4th motor；12nd, the 5th motor；13rd, the 6th motor.
【Specific embodiment】
To describe technology contents of the invention, structural feature, the objects and the effects in detail, below in conjunction with
Implementation method simultaneously coordinates accompanying drawing to be explained in detail.It should be appreciated that specific embodiment described herein is only used to solve
The present invention is released, is not used to limit the present invention.
A kind of hybrid mechanical leg organization, including sole, ankle-joint, shank, knee joint, thigh, hip are closed
Section and trunk.
The sole, for providing an attitude and position constant platform for pedipulator；The ankle-joint, is used for
The sole and shank are connected, the ankle-joint uses parallel connection type joint；The shank, drives for installing
First motor and the second motor of ankle-joint, first motor and the second motor pass through connecting rod and the sole
Connection；The knee joint, for connecting the thigh and shank；The thigh, drives knee to close for installing
3rd motor of section and the 4th motor of driving hip joint；The hip joint, for connecting the trunk and big
Leg simultaneously installs the 5th motor for driving hip joint；The trunk, the 6th motor of hip joint is driven for installing.
Hybrid mechanical leg organization of the invention, by sole, ankle-joint, shank, knee joint, thigh, hip
Joint and trunk are constituted, wherein, ankle-joint, for connecting sole and shank, ankle-joint uses parallel connection type
Joint；Shank, first motor and the second motor of ankle-joint, first motor and second are driven for installing
Motor is connected by connecting rod with sole；Knee joint, for connecting thigh and shank；Thigh, drives for installing
Move kneed 3rd motor and drive the 4th motor of hip joint；Hip joint, for connect the trunk and
Thigh simultaneously installs the 5th motor for driving hip joint；Trunk, the 6th motor of hip joint is driven for installing.
Parallel connection type articulation structure is used in ankle using the present invention, motor is arranged at shank, passed through
The sole of the mode driven machine people of link transmission is realized rolling and pitch freedom, makes the sole portion of pedipulator
Position does not dispose motor, realizes the lightweight of moving end, improves response speed.
Embodiment 1
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 1 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
Wherein, the kind of drive that the first motor 8 and the second motor 9 installed at shank 3 pass through roller bearing screw mandrel
It is linear motion by motor convert rotational motion, and further by link transmission through ankle-joint 2 and sole 1
Connection, so as to realize the pitch freedom of ankle-joint 2 according to the difference of motor output angle and roll the free degree
Control.
Embodiment 2
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 2 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, center of gravity and one end of ankle-joint 2 of sole 1 are fixed, and make machine leg more
Firm setting, and two ball-type union pieces are set in the rear end of sole 1.The sole 1 is the end of pedipulator
End, after sole 1 is contacted with ground completely, for providing an attitude and the constant platform in position for pedipulator.
Embodiment 3
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 3 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, ankle-joint 2 is the articulated manner of universal joint；One end of the universal joint and pin
Plate 1 is fixed, and the other end and the shank 3 of universal joint are fixed, for realizing bowing between sole 1 and shank 3
The motion faced upward and roll the free degree, while limiting the motion of other frees degree.
Embodiment 4
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 4 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, above-mentioned knee joint 4 is single-DOF-joint；Wherein, the single-degree-of-freedom is closed
One end of section is connected with thigh 5, and the other end of single-DOF-joint is connected with shank 3, is closed by knee
The bending function of machine leg is realized in the rotation of section 4.
Embodiment 5
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 5 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, the 3rd motor 10 for driving knee joint 4 installed at thigh 5 and drive
4th motor 11 of the dynamic pitch freedom of hip joint 6 motion, the 3rd motor 10 and the 4th motor 11 pass through
The rotary motion of motor is converted to roller bearing screw rod transmission mode the linear motion of sliding block；Further, the cunning
Block drives the rotary motion of knee joint 4 and hip joint 6 by link transmission.
Elevating movement motor is installed at thigh 5, by way of link transmission, is realized to hip joint 6
Elevating movement control.
Preferable, it is forked link that this is used to interlock the connecting rod for driving hip joint 6, so as to ensure robot
When hip joint 6 carries out rolling movement, elevating movement is not interfered with rolling movement.
Embodiment 6
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 6 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, above-mentioned hip joint 6 is ball joint, can specifically be closed using standard ball-type
Section connection trunk 7 and thigh 5, so that the axis of three rotary shafts is mutually perpendicular to and gives a bit；Further
Ground, the hip joint 6 installs the 5th motor 12 for driving pedipulator to roll.
Preferable, the 5th motor 12 drives the rolling of hip joint 6 to transport by the gear-driven mode of two-stage
It is dynamic, especially by the installation site and the size of gear of motor, it is ensured that pedipulator has larger rolling scope.
The mixed drive mode combined with gear using connecting rod at hip joint 6, one side reduction different driving axle it
Between interference, make each free degree that there is larger range of movement, on the other hand using the ball joint of standard
Structure, using the Arithmetic of inverse kinematics of standard, convenient control.
Embodiment 7
Refer to shown in Fig. 1 and Fig. 2, the embodiment of the present invention 7 provides a kind of hybrid mechanical leg organization, wrap
Include sole 1, ankle-joint 2, shank 3, knee joint 4, thigh 5, hip joint 6 and trunk 7.
Sole 1, the sole 1 is used to provide an attitude and position constant platform for pedipulator, integrated support effect；
Ankle-joint 2, for connecting above-mentioned sole 1 and shank 3, the ankle-joint 2 is using parallel connection type joint；Shank 3,
First motor 8 and the second motor 9 of ankle-joint 2, the motor 9 of the first motor 8 and second are driven for installing
It is connected with sole 1 by connecting rod；Knee joint 4, for connecting the thigh 5 and shank 3；Thigh 5, is used for
The 3rd motor 10 for driving knee joint 4 and the 4th motor 11 for driving hip joint 6 are installed；Hip joint 6, uses
In connecting above-mentioned trunk 7 and thigh 5 and install the 5th motor 12 for driving hip joint 6；Trunk 7, is used for
The 6th motor 13 for driving hip joint 6 is installed.
In further prioritization scheme, the trunk 7 is connected by bearing with hip joint 6, drives pedipulator hip to close
The motor for saving the motion of 6 beats is fixed with trunk 7, and drives the inclined of hip joint 6 by gear-driven mode
Transhipment is dynamic, can easily be turned for machine leg.
Hybrid mechanical leg organization of the invention, in ankle using type of drive in parallel, realizes machinery
The pitching that ankle-joint is realized in the case of not installing motor on legs and feet plate and the universal joint control for rolling, with
This mitigates the end weight of pedipulator, improves response speed；Knee joint is by the way of motor and link transmission
Drive, realize the elevating movement of kneed single-degree-of-freedom；Hip joint uses link transmission and gear drive phase
With reference to realizing the ball joint structure of hip joint；Elevating movement motor is installed, by connecting rod at thigh
Transmission, realizes the elevating movement control to hip joint；Yaw motion uses motor combination gear with rolling movement
The mode of transmission is driven, using hybrid mode of the present invention can make to have between each rotary freedom compared with
Small interference, and ensure that each rotary shaft is mutually perpendicular to, and give the ball-type for a little forming standard to close
Section, the control in being walked beneficial to biped.
It should be noted that in the present invention, such as first and second or the like relational terms are used merely to
One entity or operation are made a distinction with another entity or operation, and is not necessarily required or is implied this
There is any this actual relation or order between a little entities or operation.And, term " including ", " bag
Containing " or any other variant thereof is intended to cover non-exclusive inclusion, so that including a series of key elements
Process, method, article or terminal device not only include those key elements, but also including being not expressly set out
Other key elements, or also include for this process, method, article or terminal device it is intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence " including ... " or " including ... ", and
It is not precluded within the process including above-mentioned key element, method, article or terminal device and also there is other key element.
Additionally, herein, " being more than ", " being less than ", " exceeding " etc. are interpreted as not including this number；" more than ", " with
Under ", " within " etc. be interpreted as including this number.
Although being described to the various embodiments described above, those skilled in the art once know
Basic creative concept, then can make other change and modification to these embodiments, so the above is above-mentioned only
It is the embodiment of type of the present invention, not thereby limits scope of patent protection of the invention, it is every using the present invention
Equivalent structure or equivalent flow conversion that specification and accompanying drawing content are made, or directly or indirectly it is used in other
Related technical field, is similarly included within scope of patent protection of the invention.
Claims (9)
1. a kind of hybrid mechanical leg organization, it is characterised in that closed including sole, ankle-joint, shank, knee
Section, thigh, hip joint and trunk；The sole, for providing an attitude and position does not flatten for pedipulator
Platform；The ankle-joint, for connecting the sole and shank, the ankle-joint uses parallel connection type joint；Institute
Shank is stated, first motor and the second motor of ankle-joint, first motor and second are driven for installing
Motor is connected by respective roller screw and connecting rod with the sole respectively；The knee joint, for even
Connect the thigh and shank；The thigh, kneed 3rd motor and driving hip joint are driven for installing
The 4th motor；The hip joint, the of hip joint is driven for connecting the trunk and thigh and installing
Five motors；The trunk, the 6th motor of hip joint is driven for installing.
2. hybrid mechanical leg organization according to claim 1, it is characterised in that the sole and ankle
The one end in joint is fixed.
3. hybrid mechanical leg organization according to claim 1, it is characterised in that the ankle-joint is
Universal joint；One end of the universal joint is fixed with sole, and the other end and the shank of the universal joint are fixed.
4. hybrid mechanical leg organization according to claim 1, it is characterised in that the knee joint is
Single-DOF-joint；One end of the single-DOF-joint is connected with thigh, the single-DOF-joint
The other end is connected with the shank.
5. hybrid mechanical leg organization according to claim 1, it is characterised in that the 3rd motor
With the linear motion that the rotary motion of motor is converted to the 4th motor sliding block by roller bearing screw mandrel；The sliding block
The rotary motion of knee joint and hip joint is driven by link transmission.
6. hybrid mechanical leg organization according to claim 5, it is characterised in that the gearing drives
The connecting rod of hip joint is forked link.
7. hybrid mechanical leg organization according to claim 1, it is characterised in that the hip joint is
Ball joint, the hip joint installs the 5th motor for driving pedipulator to roll.
8. hybrid mechanical leg organization according to claim 7, it is characterised in that the 5th motor
By two-stage gear drive.
9. hybrid mechanical leg organization according to claim 1, it is characterised in that the trunk passes through
Bearing is connected with the hip joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510811769.6A CN106741277B (en) | 2015-11-20 | 2015-11-20 | Hybrid mechanical leg mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510811769.6A CN106741277B (en) | 2015-11-20 | 2015-11-20 | Hybrid mechanical leg mechanism |
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| CN106741277A true CN106741277A (en) | 2017-05-31 |
| CN106741277B CN106741277B (en) | 2020-10-30 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107361886A (en) * | 2017-06-21 | 2017-11-21 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| CN107884178A (en) * | 2017-12-21 | 2018-04-06 | 中国科学院沈阳自动化研究所 | Space suit lower limb performance test mechanical arm |
| CN109050709A (en) * | 2018-08-29 | 2018-12-21 | 北京钢铁侠科技有限公司 | Driving mechanism, robot lower limb structure and robot |
| CN109178139A (en) * | 2018-11-19 | 2019-01-11 | 东莞深圳清华大学研究院创新中心 | A kind of Mini humanoid robot six degree of freedom leg structure of hip joint enhancing |
| WO2019047012A1 (en) * | 2017-09-05 | 2019-03-14 | 刘哲 | Robot foot capable of adapting to complex environments |
| CN109969284A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Hybrid mechanical leg organization and biped robot |
| CN110104090A (en) * | 2019-05-16 | 2019-08-09 | 深圳市优必选科技有限公司 | Legged robot |
| CN111731407A (en) * | 2020-08-20 | 2020-10-02 | 之江实验室 | High-energy-efficiency lightweight leg-foot structure layout and design method for biped robot |
| CN114212163A (en) * | 2021-11-17 | 2022-03-22 | 深圳市优必选科技股份有限公司 | Leg structure and humanoid robot |
| CN115435828A (en) * | 2022-09-13 | 2022-12-06 | 清华大学 | Posture changing device and multi-posture dummy model |
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