CN109334797B - Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof - Google Patents
Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof Download PDFInfo
- Publication number
- CN109334797B CN109334797B CN201811066702.4A CN201811066702A CN109334797B CN 109334797 B CN109334797 B CN 109334797B CN 201811066702 A CN201811066702 A CN 201811066702A CN 109334797 B CN109334797 B CN 109334797B
- Authority
- CN
- China
- Prior art keywords
- foot
- steering engine
- tail
- axis steering
- axis
- 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.)
- Active
Links
- 210000000078 claw Anatomy 0.000 title claims abstract description 100
- 230000033001 locomotion Effects 0.000 title claims abstract description 91
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims description 10
- 239000000463 material Substances 0.000 claims abstract description 59
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 51
- 239000000853 adhesive Substances 0.000 claims abstract description 44
- 230000001070 adhesive effect Effects 0.000 claims abstract description 44
- 210000002683 foot Anatomy 0.000 claims description 232
- 230000009182 swimming Effects 0.000 claims description 31
- 210000004744 fore-foot Anatomy 0.000 claims description 16
- 210000000548 hind-foot Anatomy 0.000 claims description 14
- 230000003247 decreasing effect Effects 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 6
- 230000009189 diving Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 230000009467 reduction Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000009194 climbing Effects 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000009191 jumping Effects 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000238421 Arthropoda Species 0.000 description 1
- 241000270722 Crocodylidae Species 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- LNNWVNGFPYWNQE-GMIGKAJZSA-N desomorphine Chemical compound C1C2=CC=C(O)C3=C2[C@]24CCN(C)[C@H]1[C@@H]2CCC[C@@H]4O3 LNNWVNGFPYWNQE-GMIGKAJZSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000009184 walking Effects 0.000 description 1
Images
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
-
- 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)
- Toys (AREA)
Abstract
A dry adhesion and claw combined four-foot multi-purpose robot and bionic movement thereof belong to the field of robots. The body main body comprises a front foot support frame (3), N body Z-axis steering engines connected in series and a rear foot support frame (18); the head and neck structure comprises a head Y-axis steering engine (2) and a camera (1); the tail structure includes: a tail X-axis steering engine (26), a tail X-axis steering engine U-shaped connecting piece (27), M tail Z-axis steering engines connected in series and tail fins (31); the foot structure consists of a foot Y-axis steering engine, a support foot, a paddle, a claw and a dry adhesive material. The robot can meet the self-adaptive requirement of the non-structural terrain water surface-land surface under the natural environment, can adopt dry adhesion to crawl on a smooth surface and can adopt the hook claw to crawl on a rough surface, and can be used as a dry adhesion hook claw four-wheel paddle-driven multi-purpose robot of an all-terrain multi-purpose cross-country mobile platform under the natural environment.
Description
Technical Field
The invention belongs to the field of robot technology application, and particularly relates to a four-footed multi-dwelling robot with combination of dry adhesion and a claw and a bionic motion method thereof, which are mainly used as an all-terrain multi-dwelling mobile platform in a natural environment.
Background
The robot suitable for various water and land complex environments is one of the leading subjects in the current robot research field, integrates multiple subjects such as machinery, electronics, computers, materials, sensors, control technologies, artificial intelligence and the like, reflects the intelligent and automatic research level of a country, and is also used as an important mark of high-tech practical strength of the country, and developed countries successively invest huge amounts of research in the field.
The foot type robot can realize the climbing of a complex ground, can adjust the mode of combining the high-low body position motion of the front end and the rear end, meets the requirement of the mountain environment motion with larger gradient, enhances the adaptability of the mountain environment motion, but has low advancing speed and easy instability of motion caused by the gravity center. The wheeled robot is more suitable for a flat road surface, can move at a high speed, is easy to slip and unstable, and has poor obstacle crossing capability and terrain adaptability. The paddle type driven robot can move on the water surface, but is not suitable for complex ground movement. The bionic robot simulating the fish tail fin driving mode can realize free swimming in water, but is not suitable for complex ground movement. How to integrate the advantages of various robots and make up for the disadvantages is a current research focus. Researching the biological characteristics of nature, the crocodile is found to belong to amphibians, can swim in water by using the body and tail, and can crawl by using four limbs ashore; the gecko with the dry adhesion movement capability belongs to the crawling class, can freely crawl on complex ground and wall surfaces, combines the advantages of the two bionic objects, and has important research significance and engineering value in bionic design of the multi-dwelling bionic robot for water, land and wall surfaces.
Compared with The famous wheel-foot type combined robot at home and abroad, The X-RHEX Lite developed by The research institutions of Michigan, McGill University, University of California and The like is a wheel-foot combined robot (https:// www.grasp.upenn.edu/projects/X-RHex-Lite-xrl) which can jump with two feet, four feet and six feet and can also jump continuously. Different effects can be achieved through different jumping modes, such as jumping grooves, climbing short walls, or jumping and turning over at 180 degrees, even moving on rock ground, and the legs with paddles can swim in water. Boston powered RISE robot uses a claw and leg combination drive, a vertically crawling robot with small claws at The feet to facilitate its firm grip on rough ground (Saunders A, Goldman D I, Full R J, et al. The RISE gripping robot: body and leg design [ C ]. Georgia Institute of Technology, 2006). A novel arthropod robot (http:// www.liuti.cn/News/117741. html) designed by special robot science and technology innovation team of Beijing university of science and technology has certain stair climbing capability by adopting a leg and wheel combined driving mode. An ant lunar vehicle of university in southeast is a bionic wheel-legged robot (http:// news. longho. net/index/content/2016-04/23/content _28380. html), adopts a distributed sensing control system, has certain obstacle crossing capability, can walk in environments such as mountainous regions, ice and snow lands and the like, and has good adaptability. A gecko-like wheel-foot composite wall climbing robot developed by advanced manufacturing technology research institute of the institute of fertilizer-combining substance science of Chinese academy of sciences adopts adhesion, caterpillar and foot driving modes to realize the climbing of a smooth wall surface (http:// mil. huang. com/china/2013-09/4341264. html).
The single wheel foot, foot hook, adhesion crawler and other robots have limited functions, and the four-foot multi-purpose robot with a dry adhesion and hook claw combination and the bionic motion mode thereof have not been reported and researched.
Disclosure of Invention
The invention aims to provide a quadruped multi-purpose robot which has a high land cross-country climbing motion function, meets the self-adaptive requirement of a non-structural terrain water surface-land surface in a natural environment, can adopt dry adhesion to crawl a large-gradient wall surface on a smooth surface, can adopt a claw to crawl the large-gradient wall surface on a rough surface, and can be used as a dry adhesion and claw combination of an all-terrain multi-purpose cross-country mobile platform in the natural environment.
The four-foot multi-purpose robot with the combination of dry adhesion and the hook claw is characterized by comprising a body main body structure, a head and neck structure, a tail structure and four foot structures; also comprises a battery and a control circuit board. The body main structure sequentially comprises a front foot support frame, N body Z-axis steering engines and a rear foot support frame which are sequentially connected in series from front to back, wherein N is more than or equal to 3 and less than or equal to 6; the first body Z-axis steering engine is called as a first body Z-axis steering engine from front to back, and the last body Z-axis steering engine is called as an Nth body Z-axis steering engine; the body Z-axis steering engines are connected through steering engine U-shaped connecting pieces, the rear ends of the steering engine U-shaped connecting pieces are fixed with output shafts of the body Z-axis steering engines behind, and the front ends of the steering engine U-shaped connecting pieces are fixed with a body Z-axis steering engine body in front; wherein the rear end of the front foot supporting frame is fixed with an output shaft of a first body Z-axis steering engine; wherein the front end of the rear foot support frame is fixed with the Nth body Z-axis steering engine body; the head and neck structure comprises a head Y-axis steering engine and a camera; wherein an output shaft of the head Y-axis steering engine is fixed with the front end of the front foot support frame, and the camera is fixed on the head Y-axis steering engine body; the tail structure sequentially comprises from front to back: the tail X-axis steering engine, the tail X-axis steering engine U-shaped connecting piece, M tail Z-axis steering engines and tail fins which are sequentially connected in series, wherein M is more than or equal to 2 and less than or equal to 4; the first tail Z-axis steering engine is called a first tail Z-axis steering engine from front to back, and the last tail Z-axis steering engine is called an Mth tail Z-axis steering engine; the tail Z-axis steering engines are connected through a tail Z-axis steering engine U-shaped connecting piece, the rear end of the tail Z-axis steering engine U-shaped connecting piece is fixed with an output shaft of the tail Z-axis steering engine at the rear part, and the front end of the tail Z-axis steering engine U-shaped connecting piece is fixed with a tail Z-axis steering engine body at the front part; the rotary output end of the tail X-axis steering engine is fixed with the rear end of the rear foot support frame along an X axis, and the other end of the tail X-axis steering engine is fixed with a U-shaped connecting piece of the tail X-axis steering engine; the rotary output end of the first tail Z-axis steering engine and the tail X-axis steering engine U-shaped connecting piece are fixed along the Z axis, and the tail fin and the Mth tail Z-axis steering engine body are fixed.
The foot structure consists of a foot Y-axis steering engine and feet; wherein one end of the foot is fixedly arranged at the rotary output end of the foot Y-axis steering engine, and the foot Y-axis steering engine is fixed at the front end part of the front foot supporting frame or the end part of the rear foot supporting frame. The foot comprises a support foot and a blade; the supporting foot is C-shaped, and the paddle is fixed on the outer side surface of the supporting foot; the lower bottom surface of the support foot is provided with a row I of toe blocks from front to back, wherein I is more than or equal to 4 and less than or equal to 6; j claws are arranged on each row of toe blocks from left to right, the claw faces forwards and downwards, and J is more than or equal to 3 and less than or equal to 6; a piece of dry adhesive material is arranged below each row of toe blocks, the rear end of the dry adhesive material is fixed with the rear side of the corresponding toe block, the front end of the dry adhesive material is concave upwards, the surface of the adhesive material faces to the front lower side, and the whole body is in a cantilever state.
The bionic motion of the dry adhesion and claw combined four-footed multi-dwelling robot is characterized in that a right-middle-left motion mode is sequentially realized in the horizontal direction through the tail fin, and the bionic robot simulates the horizontal reciprocating swing of the tail fin by combining with the reciprocating cyclic motion control to push water flow and realize a forward tail fin swimming mode; the bionic robot can simulate the horizontal reciprocating swing of the tail fin and the body to push water flow and realize a forward overall flexible swimming mode by sequentially realizing the motion mode of the left and right reciprocating swing of the tail fin and the body in the horizontal direction; the bionic robot simulates the vertical reciprocating swing of the tail fin by sequentially realizing an up-middle-down motion mode of the tail fin in the vertical direction and combining reciprocating circular motion control to push water flow and realize an up-down tail fin swimming mode; by adjusting the direction of the feet, the advancing resistance is reduced when the left front foot, the left rear foot, the right front foot and the right rear foot are upward in water, the operation in a drag reduction and acceleration mode in the advancing process of swimming is realized, and the swimming speed and efficiency are improved. By adjusting the direction of the feet, the advancing resistance is increased downwards when the left front foot, the left rear foot, the right front foot and the right rear foot are in water, so that the resistance-increasing and speed-reducing mode operation in the advancing process of swimming is realized, and the swimming braking performance is improved. Through the direction of the adjusting foot, the advancing resistance is increased downwards by the left front foot and the left rear foot in water, and the advancing resistance is decreased upwards by the right front foot and the right rear foot, so that the bionic robot realizes left turning motion through the foot when moving in water, the turning radius is decreased, and the turning efficiency is improved. By adjusting the directions of the feet, the left front foot and the left rear foot in water reduce the advancing resistance upwards, and the right front foot and the right rear foot increase the advancing resistance downwards, so that the bionic robot realizes right turning movement through the feet when moving in water, the turning radius is reduced, and the turning efficiency is improved. Through the direction of the adjusting foot, the advancing resistance is increased downwards by the left front foot and the right front foot in water, and the advancing resistance is decreased upwards by the left rear foot and the right rear foot, so that the bionic robot can realize the diving motion through the foot when moving in water, the diving turning radius is decreased, and the turning efficiency is improved. By adjusting the directions of the feet, the advancing resistance is upwards reduced by the left front foot and the right front foot in water, and the advancing resistance is downwards increased by the left rear foot and the right rear foot, so that the bionic robot realizes upward bending movement through the feet when moving in water, the upward bending turning radius is reduced, and the turning efficiency is improved. The diagonal support movement on the ground is achieved by adjusting the direction of the feet. When the left front foot and the right rear foot support the ground downwards on the land, the right front foot and the left rear foot are in a swinging suspension state upwards; when the right front foot and the left rear foot support the ground downwards, the left front foot and the right rear foot are in a swinging suspension state upwards; the left foot and the right foot circularly switch the supporting motion to realize the advancing motion on the ground. The bionic robot can move forwards and upwards and downwards in water by the vertical reciprocating swing of the tail fin and the horizontal reciprocating swing of the body, and the left-right thrust and the up-down thrust are adjusted by combining the four-foot rotary motion, so that the direction is controlled. The four-foot claw structure can realize a complicated rough surface, the dry adhesion material structure can adapt to a smooth surface, and the C-shaped foot structure can enable the bionic robot to adapt to a complicated land environment and has excellent cross-country performance.
Compared with the prior art, the invention has the following advantages:
1. the invention can realize the movement of the multi-dwelling robot in water, rugged and uneven land, rough or smooth wall surface, has excellent multi-dwelling movement capability and strong environmental adaptability.
2. The invention has simple structure, clear movement principle and convenient movement realization.
3. The dry adhesive material of the invention can lead the multi-dwelling robot to move smoothly on a smooth surface with extremely small friction coefficient (such as glass).
4. The adoption of the claw mode in the invention can lead the multi-dwelling robot to move stably on the surface (such as rock) with high friction coefficient.
5. The all-terrain cross-country mobile platform has the advantages of ingenious structure, small volume, light weight, convenience in processing, economy and feasibility, and can provide a solution for the all-terrain cross-country mobile platform of a water surface-land-wall surface in a natural environment.
The four-foot multi-purpose robot combining dry adhesion and hook claw is characterized in that the left foot and the right foot of the main body structure of the body are axially symmetrical along the body; the left forefoot and the left hind foot are identical in structure; the right forefoot and right hindfoot are identical in structure. The symmetrical structure design has simple structure and clear motion principle, and is favorable for the motion stability of the multi-purpose robot.
The four-footed multi-dwelling robot combining the dry adhesion and the hook claw is characterized in that N =4 and M = 2. The parameter structure reduces the difficulty of motion control on the basis of meeting the flexibility of the body, and better meets various bionic motion modes of the multi-dwelling robot.
The four-footed multi-dwelling robot combining the dry adhesion and the hook claw is characterized in that I =5 and J = 3. The parameter structure reduces the structural complexity on the premise of adapting to rough surfaces and smooth surfaces, and better meets the requirements of the multi-purpose robot on walking motion on the surfaces of land, wall surfaces and the like.
Drawings
FIG. 1 is a general view of a four-legged multi-purpose robot with a combination of dry adhesion and a claw according to the present invention;
FIG. 2 is an exploded view of a four-legged multi-purpose robot with a combination of dry adhesion and a claw according to the present invention;
FIG. 3 is a schematic exploded view of the right foot of a four-footed multi-purpose robot incorporating a dry-adhesion and claw coupling of the present invention;
FIG. 4 is a schematic exploded left foot view of a four-footed multi-legged robot incorporating a dry-stick and claw combination of the present invention;
FIG. 5 is a schematic diagram of the rightward horizontal swinging motion of the tail fin of the four-legged multi-purpose robot with the combination of dry adhesion and the claw;
FIG. 6 is a schematic diagram of the mid-horizontal swinging motion of the tail fin of the four-legged multi-purpose robot with the combination of dry adhesion and the claw hook;
FIG. 7 is a schematic diagram of the leftward horizontal swinging motion of the tail fin of the four-legged multi-purpose robot with the combination of dry adhesion and the claw hook according to the present invention;
FIG. 8 is a schematic diagram of the motion of the tail fin and body of a four-footed multi-dwelling robot with dry adhesion and claw combination in a horizontal swinging state 1;
FIG. 9 is a schematic diagram of the motion of the tail fin and body horizontal swing state 2 of the four-footed multi-dwelling robot with dry adhesion and claw combination according to the present invention;
FIG. 10 is a schematic view of the vertical swinging upward motion of the tail fin of a four-legged multi-purpose robot with dry adhesion and claw combination according to the present invention;
FIG. 11 is a schematic diagram of the vertical swing middle motion of the tail fin of the four-legged multi-purpose robot with dry adhesion and claw combination according to the present invention;
FIG. 12 is a schematic view of the vertical swinging and downward movement of the tail fin of a four-legged multi-purpose robot with dry adhesion and claw combination according to the present invention;
FIG. 13 is a schematic diagram of a four-foot regulated straight-moving swimming drag reduction mode of a four-foot multi-purpose robot with dry adhesion and claw coupling according to the present invention;
FIG. 14 is a schematic diagram of a four-foot regulation straight-moving resistance-increasing mode of the four-foot multi-purpose robot combining dry adhesion and a claw hook according to the present invention;
FIG. 15 is a schematic diagram of a four-footed adjustment left turn swimming mode of a dry adhesion and claw combination four-footed multi-purpose robot of the present invention;
FIG. 16 is a schematic diagram of a four-legged adjustable right-turn swimming mode of a four-legged multi-purpose robot with dry adhesion and claw coupling according to the present invention;
FIG. 17 is a schematic view of a four-footed adjustment diving mode of the four-footed multi-purpose robot with the combination of dry adhesion and claw hook of the present invention;
FIG. 18 is a schematic diagram of a four-legged adjustable pitch-up swimming mode of a dry-adhesion and claw-hook combined four-legged multi-purpose robot of the present invention;
FIG. 19 is a schematic view of a four-footed ground direct-travel mode state 1 of a dry-adhesion and claw-coupled four-footed multi-purpose robot of the present invention;
FIG. 20 is a schematic view of a four-footed ground direct travel mode state 2 of a dry-adhesion and claw-coupled four-footed multi-purpose robot of the present invention;
FIG. 21 is a schematic diagram of the combined horizontal-vertical swing motion of the body and tail fins of a dry-stick and claw-coupled quadruped multi-purpose robot of the present invention;
number designation in FIGS. 1-21: 1. a camera; 2. a head Y-axis steering engine; 3. a forefoot support frame; 4. a left front wheel Y-axis steering engine; 5. a right front wheel Y-axis steering engine; 6. a right side support foot; 7. a right side paddle; 8. a right first finger; 9. a right first dry adhesive material; 10. a battery; 11. a first steering engine of the body in the Z-axis direction; 12. a body Z-axis first steering engine U-shaped connecting piece; 13. a second steering engine for the Z axis of the body; 14. a body Z-axis second steering engine U-shaped connecting piece; 15. a third steering engine for the Z axis of the body; 16. a third steering engine U-shaped connecting piece in the Z-axis direction of the body; 17. a fourth steering engine in the Z-axis direction of the body; 18. a hindfoot support frame; 19. a left rear wheel Y-axis steering engine; 20. a right rear wheel Y-axis steering engine; 21. a left side support foot; 22. a left paddle; 23. a left first finger; 24. a left first dry adhesive material; 25. a control circuit board; 26. a tail X-axis steering engine; 27. a tail X-axis steering engine U-shaped connecting piece; 28. a tail Z-axis first steering engine; 29. a tail Z-axis first steering engine U-shaped connecting piece; 30. a tail Z-axis second steering engine; 31. a tail fin; 32. a right second finger; 33. a right second dry adhesive material; 34. a right third finger; 35. a right third dry adhesive material; 36. the fourth right claw; 37. the fourth dry adhesive material on the right; 38. the fifth right claw; 39. the fifth dry adhesive material on the right; 40. a left second finger; 41. a left second dry adhesive material; 42. a left third claw; 43. a left third dry adhesive material; 44. a fourth left finger; 45. the fourth dry adhesive material on the left side; 46. a fifth left claw; 47. a fifth left dry adhesive material; l1, left forefoot; l2, left hind paw; r1, right front foot; r2, right hind foot. Wherein X, Y, Z is the corresponding three-dimensional space coordinate system.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
referring to fig. 1-21, the embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, including a camera 1, a head Y axial steering engine 2, a front foot support frame 3, a left front wheel Y axial steering engine 4, a right front wheel Y axial steering engine 5, a right support foot 6, a right paddle 7, a right first claw 8, a right first dry adhesion material 9, a battery 10, a body Z axial first steering engine 11, a body Z axial first steering engine U-shaped connector 12, a body Z axial second steering engine 13, a body Z axial second steering engine U-shaped connector 14, a body Z axial third steering engine 15, a body Z axial third steering engine U-shaped connector 16, a body Z axial fourth steering engine 17, a rear foot support frame 18, a left rear wheel Y axial steering engine 19, a right rear wheel Y axial steering engine 20, a left support foot 21, a left paddle 22, a left first claw 23, a right left support foot Y-directional steering engine 6, a right support foot Z axial steering engine 6, The first dry adhesive material 24 on the left side, the control circuit board 25, the tail X axial steering engine 26, the tail X axial steering engine U-shaped connecting piece 27, the tail Z axial first steering engine 28, the tail Z axial first steering engine U-shaped connecting piece 29, the tail Z axial second steering engine 30, the tail fin 31, the right second claw 32, the right second dry adhesive material 33, the right third claw 34, the right third dry adhesive material 35, the right fourth claw 36, the right fourth dry adhesive material 37, the right fifth claw 38, the right fifth dry adhesive material 39, the left second claw 40, the left second dry adhesive material 41, the left third claw 42, the left third dry adhesive material 43, the left fourth claw 44, the left fourth dry adhesive material 45, the left fifth claw 46, the left fifth dry adhesive material 47, the left forefoot L1, the left hindfoot L2, the left forefoot R1 and the right forefoot R2.
With reference to fig. 2, the embodiment is a dry adhesion and claw combined four-foot multi-purpose robot and its bionic motion, comprising a camera 1, a head Y axial steering engine 2, a front foot support frame 3, a left front wheel Y axial steering engine 4, a right front wheel Y axial steering engine 5, a left front foot L1, a right front foot R1 and a battery 10. The rotary output end of the head Y-axis steering engine 2 is fixed with the front end of the front foot support frame 3 along the Y axis, and the camera 1 is fixed on the head Y-axis steering engine 2 along the X axis; the rotary output end of the left front wheel Y axial steering engine 4 is fixedly connected with the center of a left front foot L1, and the rotary output end of the right front wheel Y axial steering engine 5 is fixedly connected with the center of a right front foot R1; a left front wheel Y axial steering engine 4 is fixed at the left upper end of the front foot supporting frame 3, and a right front wheel Y axial steering engine 5 is fixed at the right upper end of the front foot supporting frame 3. The battery 10 is fixed right above the forefoot support frame 3.
With reference to fig. 2, the embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic motion, including a body Z-axis first steering engine 11, a body Z-axis first steering engine U-shaped connecting piece 12, a body Z-axis second steering engine 13, a body Z-axis second steering engine U-shaped connecting piece 14, a body Z-axis third steering engine 15, a body Z-axis third steering engine U-shaped connecting piece 16, and a body Z-axis fourth steering engine 17. The rotary output end of a first steering engine 11 in the Z-axis direction of the body is fixed with the rear end of the front foot support frame 3 along the Z-axis direction, and the other end of the first steering engine 11 in the Z-axis direction of the body is fixed with a first steering engine U-shaped connecting piece 12 in the Z-axis direction of the body; the rotary output end of a body Z-axis second steering engine 13 and a body Z-axis first steering engine U-shaped connecting piece 12 are fixed along the Z axis, and the other end of the body Z-axis second steering engine 13 and a body Z-axis second steering engine U-shaped connecting piece 14 are fixed; the rotary output end of a Z-axis third steering engine 15 of the body is fixed with a U-shaped connecting piece 14 of the Z-axis second steering engine along the Z axis, and the other end of the Z-axis third steering engine 15 of the body is fixed with a U-shaped connecting piece 16 of the Z-axis third steering engine of the body; the rotary output end of a Z-axis body fourth steering engine 17 and a Z-axis body third steering engine U-shaped connecting piece 16 are fixed along the Z axis, and the other end of the Z-axis body fourth steering engine 17 is fixed at the front end of a rear foot supporting frame 18.
Referring to fig. 2, the embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic motion, comprising a rear foot support frame 18, a left rear wheel Y axial steering engine 19, a right rear wheel Y axial steering engine 20, a control circuit board 25, a left rear foot L2 and a right rear foot R2. The rotary output end of the left rear wheel Y axial steering engine 19 is fixedly connected with the center of a left rear foot L2, and the rotary output end of the right rear wheel Y axial steering engine 20 is fixedly connected with the center of a right rear foot R2; a left rear wheel Y axial steering engine 19 is fixed at the left upper end of the rear foot supporting frame 18, and a right rear wheel Y axial steering engine 20 is fixed at the right upper end of the rear foot supporting frame 18. The control circuit board 25 is fixed right above the rear foot support frame 18.
With reference to fig. 2, the embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, including a tail X axial steering engine 26, a tail X axial steering engine U-shaped connecting piece 27, a tail Z axial first steering engine 28, a tail Z axial first steering engine U-shaped connecting piece 29, a tail Z axial second steering engine 30, and a tail fin 31. The rotary output end of the tail X-axis steering engine 26 is fixed with the rear end of the rear foot support frame 18 along an X axis, and the other end of the tail X-axis steering engine 26 is fixed with a U-shaped connecting piece 27 of the tail X-axis steering engine; the rotary output end of a tail Z-axis first steering engine 28 is fixed with a tail X-axis steering engine U-shaped connecting piece 27 along the Z axis, and the other end of the tail Z-axis first steering engine 28 is fixed with a tail Z-axis first steering engine U-shaped connecting piece 29; the rotary output end of the tail Z-axis second steering engine 30 is fixed with the tail Z-axis first steering engine U-shaped connecting piece 29 along the Z axis, and the tail Z-axis second steering engine 30 is fixed with the tail fin 31.
Referring to fig. 2, the present embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, including a left front foot L1, a left rear foot L2, a right front foot R1, and a right rear foot R2. The left forefoot L1 and the left hindfoot L2 are structurally identical; the right forefoot R1 and right hind foot R2 are structurally identical. The left forefoot L1 and the right forefoot R1 are structurally symmetrical along the medial-axial plane of the body; the left hindfoot L2 and the right hindfoot R2 are symmetrical along a medial-axial plane of the body.
With reference to fig. 3, the present embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, including a right support foot 6, a right blade 7, a right first claw 8, a right first dry adhesion material 9, a right second claw 32, a right second dry adhesion material 33, a right third claw 34, a right third dry adhesion material 35, a right fourth claw 36, a right fourth dry adhesion material 37, a right fifth claw 38, and a right fifth dry adhesion material 39. The right support foot 6 is C-shaped, and the right paddle 7 is fixed on the outer side surface of the right support foot 6; 5 pairs of claws and dry adhesive materials are uniformly distributed on the bottom surface of the right supporting foot 6 respectively, wherein a first claw 8 on the right side is fixed in a hole at the tip of the bottom surface of the right supporting foot 6, and the claw surface faces to the front lower side; one end of the right first dry adhesive material 9 is fixed on the bottom surface of the right support foot 6, and the other end surface of the right first dry adhesive material 9 is suspended forwards and downwards to present a cantilever state. A right second finger 32, a right third finger 34, a right fourth finger 36, a right fifth finger 38, and a right fifth strip 39 of adhesive material are secured in the holes in the distal end of the bottom surface of the right support foot 6, respectively, with the fingers facing down and forward. One end of the right second dry adhesive material 33, the right third dry adhesive material 35, the right fourth dry adhesive material 37 and the right fifth dry adhesive material 39 are respectively and sequentially fixed on the bottom surface of the right support foot 6, and the other end faces forwards and downwards to suspend in the air, so that a cantilever state is presented. Thereby constituting a right forefoot R1 and a right hindfoot R2.
With reference to fig. 4, the present embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, including a left side supporting foot 21, a left side blade 22, a left side first claw 23, a left side first dry adhesion material 24, a left side second claw 40, a left side second dry adhesion material 41, a left side third claw 42, a left side third dry adhesion material 43, a left side fourth claw 44, a left side fourth dry adhesion material 45, a left side fifth claw 46, and a left side fifth dry adhesion material 47. The left supporting foot 21 is C-shaped, and the left blade 22 is fixed on the outer side surface of the left supporting foot 21; 5 pairs of claws and dry adhesive materials are uniformly distributed on the bottom surface of the left supporting foot 21, wherein a left first claw 23 is fixed in a hole at the tip of the bottom surface of the left supporting foot 21, and the claw surface faces the front lower part; one end of the left first dry adhesive material 24 is fixed on the bottom surface of the left support foot 21, and the other end of the left first dry adhesive material 24 is suspended forward and downward to present a cantilever state. The left second claw 40, the left third claw 42, the left fourth claw 44 and the left fifth claw 46 are respectively and sequentially fixed in holes at the tip of the bottom surface of the left support foot 21, and the claws face to the front lower side. One end of the left second dry adhesive material 41, the left third dry adhesive material 43, the left fourth dry adhesive material 45 and the left fifth dry adhesive material 47 are respectively and sequentially fixed on the bottom surface of the left support foot 21, and the other end faces forwards and downwards to suspend in the air, so that a cantilever state is presented. Thus constituting left forefoot L1 and left hindfoot L2.
With reference to fig. 5, 6 and 7, the embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, wherein the right-middle-left motion mode is sequentially realized in the horizontal direction by the tail fin, and the simulation of horizontal reciprocating swing of the tail fin by the bionic robot can be realized by combining the reciprocating cyclic motion control, so as to push water flow and realize the forward tail fin swimming mode.
With reference to fig. 8 and 9, the present embodiment is a four-footed multi-purpose robot with dry adhesion and hook combination and its bionic motion, wherein the motion mode of left-right reciprocating swing is sequentially realized in the horizontal direction by the tail fin and the body, so that the bionic robot can simulate the horizontal reciprocating swing of the tail fin and the body, push water flow, and realize a forward overall flexible swimming mode.
With reference to fig. 10, 11 and 12, the present embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic motion, wherein the bionic robot can simulate the vertical reciprocating swing of the tail fin to push water flow and realize the swimming mode of the upper and lower tail fins by sequentially realizing the up-middle-down motion mode of the tail fin in the vertical direction and combining the reciprocating circular motion control.
With reference to fig. 13, the embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic movement, wherein by adjusting the direction of the feet, the advancing resistance is reduced upwards when the left front foot L1, the left rear foot L2, the right front foot R1 and the right rear foot R2 are in water, so that the drag reduction and acceleration mode operation is realized during the advancing process of swimming, and the swimming speed and efficiency are improved.
With reference to fig. 14, the present embodiment is a dry adhesion and claw combined four-footed multi-dwelling robot and its bionic motion, wherein by adjusting the direction of the feet, the forward resistance is increased downwards when the left front foot L1, the left rear foot L2, the right front foot R1 and the right rear foot R2 are in water, so as to realize the resistance-increasing and speed-reducing mode operation in the moving forward process and improve the moving brake performance.
With reference to fig. 15, the present embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic movement, wherein by adjusting the direction of the feet, the left front foot L1 and the left rear foot L2 increase the forward resistance downwards in water, and the right front foot R1 and the right rear foot R2 decrease the forward resistance upwards, so that the bionic robot realizes left-turning movement through the feet when swimming in water, reduces the turning radius, and improves the turning efficiency.
With reference to fig. 16, the present embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic movement, wherein by adjusting the direction of the feet, the left front foot L1 and the left rear foot L2 in water reduce the forward resistance upwards, and the right front foot R1 and the right rear foot R2 increase the forward resistance downwards, so that the bionic robot realizes right turning movement through the feet when swimming in water, reduces the turning radius, and improves the turning efficiency.
With reference to fig. 17, the present embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic movement, wherein by adjusting the direction of the feet, the forward resistance is increased downwards in the underwater left front foot L1 and right front foot R1, and the forward resistance is decreased upwards in the underwater left rear foot L2 and right rear foot R2, so that the bionic robot realizes the dive movement through the feet when swimming in the water, and the dive turning radius is decreased, and the turning efficiency is improved.
With reference to fig. 18, the present embodiment is a dry adhesion and claw combined four-footed multi-purpose robot and its bionic movement, wherein by adjusting the direction of the feet, the forward resistance is decreased upward by the left front foot L1 and the right front foot R1 in water, and the forward resistance is increased downward by the left rear foot L2 and the right rear foot R2, so that the bionic robot realizes the upward pitching movement by the feet when swimming in water, reduces the upward pitching turning radius, and improves the turning efficiency.
Referring to fig. 19 and 20, the present embodiment is a four-footed multi-purpose robot with dry adhesion and claw coupling and its bionic movement, in which diagonal support movement on the ground is achieved by adjusting the direction of the feet. When the left front foot L1 and the right rear foot R2 support the ground downwards on the land, the right front foot R1 and the left rear foot L2 are in a swinging suspension state upwards; when the right front foot R1 and the left rear foot L2 support the ground downwards, the left front foot L1 and the right rear foot R2 are in a swinging suspension state upwards; the left foot and the right foot circularly switch the supporting motion to realize the advancing motion on the ground.
In the embodiment, the dry adhesion and claw combined four-footed multi-dwelling robot and the bionic motion thereof are combined with fig. 21, wherein the bionic robot can move forwards and upwards and downwards in water by the vertical reciprocating swing of the tail fin and the horizontal reciprocating swing of the body, and the left and right thrust and the up and down thrust are adjusted by combining the rotation motion of the four feet, so that the direction is controlled. The four-foot claw structure can realize a complicated rough surface, the dry adhesion material structure can adapt to a smooth surface, and the C-shaped foot structure can enable the bionic robot to adapt to a complicated land environment and has excellent cross-country performance.
Claims (4)
1. The utility model provides a dry adhesion and hook claw combine four-footed multi-purpose robot which characterized in that:
comprises a body main structure, a head and neck structure, a tail structure and four foot structures; the device also comprises a battery (10) and a control circuit board (25);
the body main structure sequentially comprises a front foot support frame (3), N body Z-axis steering engines and a rear foot support frame (18) which are sequentially connected in series from front to back, wherein N is more than or equal to 3 and less than or equal to 6; the first body Z-axis steering engine is called as a first body Z-axis steering engine from front to back, and the last body Z-axis steering engine is called as an Nth body Z-axis steering engine; the body Z-axis steering engines are connected through steering engine U-shaped connecting pieces, the rear ends of the steering engine U-shaped connecting pieces are fixed with output shafts of the body Z-axis steering engines behind, and the front ends of the steering engine U-shaped connecting pieces are fixed with a body Z-axis steering engine body in front; wherein the rear end of the front foot support frame (3) is fixed with an output shaft of a first body Z-axis steering engine; wherein the front end of the rear foot support frame (18) is fixed with the body of the Nth body Z-axis steering engine (17);
the head and neck structure comprises a head Y-axis steering engine (2) and a camera (1); wherein an output shaft of the head Y-axis steering engine (2) is fixed with the front end of the front foot support frame (3), and the camera (1) is fixed on the body of the head Y-axis steering engine (2);
the tail structure sequentially comprises from front to back: a tail X-axis steering engine (26), a tail X-axis steering engine U-shaped connecting piece (27), M tail Z-axis steering engines and tail fins (31) which are sequentially connected in series, wherein M is more than or equal to 2 and less than or equal to 4; the first tail Z-axis steering engine is called a first tail Z-axis steering engine from front to back, and the last tail Z-axis steering engine is called an Mth tail Z-axis steering engine; the tail Z-axis steering engines are connected through a tail Z-axis steering engine U-shaped connecting piece, the rear end of the tail Z-axis steering engine U-shaped connecting piece is fixed with an output shaft of the tail Z-axis steering engine at the rear part, and the front end of the tail Z-axis steering engine U-shaped connecting piece is fixed with a tail Z-axis steering engine body at the front part; the rotary output end of a tail X-axis steering engine (26) is fixed with the rear end of the rear foot support frame (18) along an X axis, and the other end of the tail X-axis steering engine (26) is fixed with a tail X-axis steering engine U-shaped connecting piece (27); the rotary output end of the first tail Z-axis steering engine and a tail X-axis steering engine U-shaped connecting piece (27) are fixed along a Z axis, and a tail fin is fixed with an Mth tail Z-axis steering engine body;
the foot structure consists of a foot Y-axis steering engine and feet; one end of the foot is fixedly arranged at the rotary output end of the foot Y-axis steering engine, and the foot Y-axis steering engine is fixed at the front end part of the front foot support frame or the end part of the rear foot support frame;
the feet comprise a support foot and a paddle; the supporting foot is C-shaped, and the paddle is fixed on the outer side surface of the supporting foot;
the lower bottom surface of the support foot is provided with a row I of toe blocks from front to back, wherein I is more than or equal to 4 and less than or equal to 6; j claws are arranged on each row of toe blocks from left to right, the claw faces forwards and downwards, and J is more than or equal to 3 and less than or equal to 6;
a piece of dry adhesive material is arranged below each row of toe blocks, the rear end of the dry adhesive material is fixed with the rear side of the corresponding toe block, the front end of the dry adhesive material is concave upwards, the surface of the adhesive material faces to the front lower side, and the whole body is in a cantilever state.
2. The dry-adhesion and claw-combined quadruped multi-purpose robot of claim 1, wherein:
the feet are characterized in that the left side feet and the right side feet of the body main structure are axially symmetrical along the body; the left forefoot and the left hind foot are identical in structure; the right forefoot and right hindfoot are identical in structure.
3. The dry-stick and grapple combination quadruped multi-dwelling robot of claim 1, wherein:
n =4, M =2, I =5, J = 3.
4. The bionic motion method of the dry adhesion and claw combined four-footed multi-dwelling robot as claimed in claim 1, wherein:
the bionic robot simulates the horizontal reciprocating swing of the tail fin by sequentially realizing a right-middle-left movement mode in the horizontal direction through the tail fin (31) and combining reciprocating circular motion control to push water flow and realize a forward tail fin swimming mode;
the bionic robot can simulate the horizontal reciprocating swing of the tail fin and the body to push water flow and realize a forward overall flexible swimming mode by sequentially realizing the motion mode of the left and right reciprocating swing of the tail fin and the body in the horizontal direction;
the bionic robot simulates the vertical reciprocating swing of the tail fin by sequentially realizing an up-middle-down motion mode of the tail fin in the vertical direction and combining reciprocating circular motion control to push water flow and realize an up-down tail fin swimming mode;
by adjusting the direction of the feet, the advancing resistance is reduced when the left front foot, the left rear foot, the right front foot and the right rear foot are upward in water, the operation in a drag reduction and acceleration mode in the advancing process of swimming is realized, and the swimming speed and efficiency are improved;
by adjusting the direction of the feet, the advancing resistance is increased downwards when the left front foot, the left rear foot, the right front foot and the right rear foot are in water, so that the resistance-increasing and speed-reducing mode operation in the advancing process of swimming is realized, and the swimming braking performance is improved;
by adjusting the direction of the feet, the advancing resistance is increased downwards by the left front foot and the left rear foot in water, and the advancing resistance is decreased upwards by the right front foot and the right rear foot, so that the bionic robot realizes left turning motion through the feet when swimming in water, the turning radius is decreased, and the turning efficiency is improved;
by adjusting the directions of the feet, the left front foot and the left rear foot in water reduce the advancing resistance upwards, and the right front foot and the right rear foot increase the advancing resistance downwards, so that the bionic robot realizes right turning movement through the feet when swimming in water, the turning radius is reduced, and the turning efficiency is improved;
by adjusting the direction of the feet, the advancing resistance is increased downwards by the left front foot and the right front foot in water, and the advancing resistance is decreased upwards by the left rear foot and the right rear foot, so that the bionic robot realizes the diving motion by the feet when swimming in water, the diving turning radius is decreased, and the turning efficiency is improved;
by adjusting the direction of the feet, the advancing resistance is reduced upwards by the left front foot and the right front foot in water, and the advancing resistance is increased downwards by the left rear foot and the right rear foot, so that the bionic robot realizes upward bending movement through the feet when moving in water, the upward bending turning radius is reduced, and the turning efficiency is improved;
the diagonal supporting motion on the ground is realized by adjusting the direction of the feet; when the left front foot and the right rear foot support the ground downwards on the land, the right front foot and the left rear foot are in a swinging suspension state upwards; when the right front foot and the left rear foot support the ground downwards, the left front foot and the right rear foot are in a swinging suspension state upwards; the left foot and the right foot circularly switch the supporting motion to realize the advancing motion on the ground;
the bionic robot can move forwards and upwards and downwards in water in a mode of vertical reciprocating swing of the tail fin and horizontal reciprocating swing of a body, and the direction is controlled by adjusting the left-right thrust and the up-down thrust in combination with the four-foot rotary motion;
the claw structure of the four feet is suitable for a complicated rough surface, the dry adhesion material structure is suitable for a smooth surface, and the C-shaped foot structure enables the bionic robot to be suitable for a complicated land environment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066702.4A CN109334797B (en) | 2018-09-13 | 2018-09-13 | Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811066702.4A CN109334797B (en) | 2018-09-13 | 2018-09-13 | Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109334797A CN109334797A (en) | 2019-02-15 |
| CN109334797B true CN109334797B (en) | 2021-04-20 |
Family
ID=65305468
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811066702.4A Active CN109334797B (en) | 2018-09-13 | 2018-09-13 | Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334797B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294042B (en) * | 2019-05-17 | 2021-03-02 | 北京建筑大学 | Multi-movement-mode walking device |
| CN110422245A (en) * | 2019-09-04 | 2019-11-08 | 中国科学院合肥物质科学研究院 | A kind of bionic wall climbing robot adapting to a variety of environment |
| CN112026461B (en) * | 2020-08-31 | 2021-05-04 | 哈尔滨工业大学 | Paddle-leg type deformable amphibious six-legged robot |
| CN113306349B (en) * | 2021-05-05 | 2023-01-20 | 天津理工大学 | Amphibious mobile robot with multiple motion modes |
| CN114179932A (en) * | 2021-12-30 | 2022-03-15 | 葛君 | Multi-legged robot based on flexible bending structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6974356B2 (en) * | 2003-05-19 | 2005-12-13 | Nekton Research Llc | Amphibious robot devices and related methods |
| JP2005247077A (en) * | 2004-03-03 | 2005-09-15 | Ko Yamaguchi | Water-jet-fin propelling system |
| US7329161B2 (en) * | 2004-11-30 | 2008-02-12 | Thomas Roering | Amphibious recreation vehicle |
| CN103318287B (en) * | 2013-05-14 | 2016-06-01 | 北京航空航天大学 | Bionical lizard amphibious robot |
| CN104669961B (en) * | 2013-11-30 | 2016-09-14 | 中国科学院沈阳自动化研究所 | A kind of bionical amphibious robot taking turns foot-tail fin combination drive |
| CN204526690U (en) * | 2015-03-02 | 2015-08-05 | 黑龙江工程学院 | A kind of amphibious multi-foot robot of sufficient oar couple drive |
| CN107618582B (en) * | 2017-08-21 | 2019-04-19 | 南京航空航天大学 | The hybrid 4-wheel driven car of foot wheel crawler belt and its movement technique with dry adhesion and hook |
-
2018
- 2018-09-13 CN CN201811066702.4A patent/CN109334797B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109334797A (en) | 2019-02-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109334797B (en) | Dry adhesion and claw combined four-foot multi-purpose robot and bionic movement method thereof | |
| CN109334798B (en) | Multi-purpose robot driven by dry adhesion claw four-wheel foot paddle and movement method thereof | |
| Li et al. | Design and performance evaluation of an amphibious spherical robot | |
| CN109986579B (en) | Multi-mode motion primate-imitating robot | |
| CN110919628B (en) | Dry adhesion and claw combined machine foot and leg, robot and motion method | |
| CN202935468U (en) | Centipede type biomimetic multi-foot robot | |
| CN204264314U (en) | A kind of bionic machine dog | |
| CN204526690U (en) | A kind of amphibious multi-foot robot of sufficient oar couple drive | |
| CN107618582B (en) | The hybrid 4-wheel driven car of foot wheel crawler belt and its movement technique with dry adhesion and hook | |
| CN209600192U (en) | A kind of imitative die Schwimmhaut crawl stroke formula propulsion robot | |
| CN205273662U (en) | For military use bionical operation robot based on bionics principle | |
| CN104118490A (en) | Desert quadruped robot imitating lizard | |
| Graf et al. | Get a grip: Inward dactyl motions improve efficiency of sideways-walking gait for an amphibious crab-like robot | |
| Lee et al. | Design and development of a quadruped shuffling mobile robot | |
| CN112810786B (en) | Double-foot line supporting device for near-bottom propulsion of submersible vehicle and line supporting method thereof | |
| Wang et al. | Effects of pendular waist on gecko's climbing: dynamic gait, analytical model and bio-inspired robot | |
| CN204548269U (en) | A kind of accumulating type imitates frog hopping robot | |
| US10011311B2 (en) | Quadra walker | |
| Tavakoli et al. | Bio-inspired climbing robots | |
| CN110126937A (en) | Bionical quadruped robot and gait control method | |
| Zhou et al. | Design and simulation of special hexapod robot with vertical climbing ability | |
| Zhu et al. | Initial development of an amphibious robot with flexible straight flipper-legs | |
| XU et al. | Quadruped robot mechanism design and motion simulation based on SolidWorks and Adams | |
| Hongbin et al. | Mechanical Design of Dexterous Bionic Leg with Single-DOF Planar Linkage | |
| CN219237211U (en) | Running gear and miniature bionical beetle robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |