CN110239644A - 一种基于柔性脊柱技术的仿生四足机器人 - Google Patents
一种基于柔性脊柱技术的仿生四足机器人 Download PDFInfo
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- CN110239644A CN110239644A CN201910481457.1A CN201910481457A CN110239644A CN 110239644 A CN110239644 A CN 110239644A CN 201910481457 A CN201910481457 A CN 201910481457A CN 110239644 A CN110239644 A CN 110239644A
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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
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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
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Cited By (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110588833A (zh) * | 2019-10-16 | 2019-12-20 | 上海大学 | 一种适用于电动足式机器人的高负载三段式腿结构 |
CN110884588A (zh) * | 2019-12-23 | 2020-03-17 | 中国科学院空间应用工程与技术中心 | 一种基于串联机械腿的四足机器人平台 |
CN111055283A (zh) * | 2019-12-30 | 2020-04-24 | 广东省智能制造研究所 | 一种足式机器人的foc位置伺服驱动装置及方法 |
CN111301556A (zh) * | 2020-03-20 | 2020-06-19 | 三峡大学 | 远程控制的多功能四足机器人及操作方法 |
CN111452882A (zh) * | 2020-04-10 | 2020-07-28 | 山东大学 | 一种四足机器人 |
CN112034861A (zh) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | 一种仿生自主机器人自主避障***及其避障方法 |
CN112363523A (zh) * | 2020-11-10 | 2021-02-12 | 北京中科深智科技有限公司 | 一种实时模拟四足动物运动的方法和*** |
CN113220004A (zh) * | 2021-04-15 | 2021-08-06 | 海南大熊软件科技有限公司 | 四足机器人步态控制方法、四足机器人以及计算机可读存储介质 |
CN113738996A (zh) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | 适用于管道内壁防腐作业机器人的软轴及管道内壁防腐作业机器人 |
CN114104139A (zh) * | 2021-09-28 | 2022-03-01 | 北京炎凌嘉业机电设备有限公司 | 一种仿生足式机器人步足平台融合越障及自主跟随*** |
CN114701583A (zh) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | 一种绳驱柔性双关节仿生蟹及控制方法 |
CN114762972A (zh) * | 2021-01-15 | 2022-07-19 | 腾讯科技(深圳)有限公司 | 机械躯干以及机器狗 |
CN115848530A (zh) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | 机器人足关节 |
KR102567537B1 (ko) * | 2022-06-30 | 2023-08-21 | (주)에이딘로보틱스 | 구동 모듈 및 이를 포함하는 로봇 |
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US20020140392A1 (en) * | 2001-03-30 | 2002-10-03 | Johann Borenstein | Apparatus for obstacle traversion |
US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
CN102896633A (zh) * | 2012-09-27 | 2013-01-30 | 浙江大学 | 具有全方位角度反馈的柔性脊椎 |
CN103569234A (zh) * | 2013-09-02 | 2014-02-12 | 上海大学 | 一种四足机器人单驱动多关节机体 |
CN203780644U (zh) * | 2014-04-11 | 2014-08-20 | 哈尔滨工程大学 | 带有脊柱关节和弹性腿的仿生四足机器人 |
CN104875812A (zh) * | 2015-03-27 | 2015-09-02 | 北京交通大学 | 一种用于四足机器人的四叶草形状的刚度可调柔顺脊柱 |
CN105216900A (zh) * | 2015-09-01 | 2016-01-06 | 上海大学 | 一种柔索驱动的仿生柔性机体机构 |
CN108621137A (zh) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | 一种用于地震救援的四足机器人脊柱装置 |
CN208068260U (zh) * | 2018-03-29 | 2018-11-09 | 河北工业大学 | 一种刚柔耦合式外骨骼机器人用背部助力背负结构 |
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2019
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Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
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US20020140392A1 (en) * | 2001-03-30 | 2002-10-03 | Johann Borenstein | Apparatus for obstacle traversion |
US20050007055A1 (en) * | 2001-03-30 | 2005-01-13 | Johann Borenstein | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
CN102896633A (zh) * | 2012-09-27 | 2013-01-30 | 浙江大学 | 具有全方位角度反馈的柔性脊椎 |
CN103569234A (zh) * | 2013-09-02 | 2014-02-12 | 上海大学 | 一种四足机器人单驱动多关节机体 |
CN203780644U (zh) * | 2014-04-11 | 2014-08-20 | 哈尔滨工程大学 | 带有脊柱关节和弹性腿的仿生四足机器人 |
CN104875812A (zh) * | 2015-03-27 | 2015-09-02 | 北京交通大学 | 一种用于四足机器人的四叶草形状的刚度可调柔顺脊柱 |
CN105216900A (zh) * | 2015-09-01 | 2016-01-06 | 上海大学 | 一种柔索驱动的仿生柔性机体机构 |
CN208068260U (zh) * | 2018-03-29 | 2018-11-09 | 河北工业大学 | 一种刚柔耦合式外骨骼机器人用背部助力背负结构 |
CN108621137A (zh) * | 2018-06-22 | 2018-10-09 | 哈尔滨理工大学 | 一种用于地震救援的四足机器人脊柱装置 |
Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110588833A (zh) * | 2019-10-16 | 2019-12-20 | 上海大学 | 一种适用于电动足式机器人的高负载三段式腿结构 |
CN110884588A (zh) * | 2019-12-23 | 2020-03-17 | 中国科学院空间应用工程与技术中心 | 一种基于串联机械腿的四足机器人平台 |
CN111055283A (zh) * | 2019-12-30 | 2020-04-24 | 广东省智能制造研究所 | 一种足式机器人的foc位置伺服驱动装置及方法 |
CN111055283B (zh) * | 2019-12-30 | 2021-06-25 | 广东省智能制造研究所 | 一种足式机器人的foc位置伺服驱动装置及方法 |
CN111301556A (zh) * | 2020-03-20 | 2020-06-19 | 三峡大学 | 远程控制的多功能四足机器人及操作方法 |
CN111452882A (zh) * | 2020-04-10 | 2020-07-28 | 山东大学 | 一种四足机器人 |
CN111452882B (zh) * | 2020-04-10 | 2021-10-19 | 山东大学 | 一种四足机器人 |
CN112034861A (zh) * | 2020-09-15 | 2020-12-04 | 航天科工智能机器人有限责任公司 | 一种仿生自主机器人自主避障***及其避障方法 |
CN112363523A (zh) * | 2020-11-10 | 2021-02-12 | 北京中科深智科技有限公司 | 一种实时模拟四足动物运动的方法和*** |
CN114762972A (zh) * | 2021-01-15 | 2022-07-19 | 腾讯科技(深圳)有限公司 | 机械躯干以及机器狗 |
CN114762972B (zh) * | 2021-01-15 | 2024-07-09 | 腾讯科技(深圳)有限公司 | 机械躯干以及机器狗 |
CN113220004A (zh) * | 2021-04-15 | 2021-08-06 | 海南大熊软件科技有限公司 | 四足机器人步态控制方法、四足机器人以及计算机可读存储介质 |
CN113738996B (zh) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | 适用于管道内壁防腐作业机器人的软轴及管道内壁防腐作业机器人 |
CN113738996A (zh) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | 适用于管道内壁防腐作业机器人的软轴及管道内壁防腐作业机器人 |
CN114104139A (zh) * | 2021-09-28 | 2022-03-01 | 北京炎凌嘉业机电设备有限公司 | 一种仿生足式机器人步足平台融合越障及自主跟随*** |
CN114701583A (zh) * | 2022-04-18 | 2022-07-05 | 东北大学秦皇岛分校 | 一种绳驱柔性双关节仿生蟹及控制方法 |
CN114701583B (zh) * | 2022-04-18 | 2023-02-24 | 东北大学秦皇岛分校 | 一种绳驱柔性双关节仿生蟹及控制方法 |
KR102567537B1 (ko) * | 2022-06-30 | 2023-08-21 | (주)에이딘로보틱스 | 구동 모듈 및 이를 포함하는 로봇 |
CN115848530A (zh) * | 2023-02-14 | 2023-03-28 | 七腾机器人有限公司 | 机器人足关节 |
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Inventor after: Wen Xianglong Inventor after: Zhou Xuefeng Inventor after: Li Shuai Inventor after: Xu Zhihao Inventor after: Tang Guanrong Inventor after: Su Zerong Inventor after: Cai Yisong Inventor before: Wen Xianglong Inventor before: Zhou Xuefeng Inventor before: Li Shuai Inventor before: Xu Zhihao Inventor before: Tang Guanrong Inventor before: Su Zerong Inventor before: Cai Yisong |
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Address after: Room 612, Building 13, Compound 100, Xianlie Middle Road, Yuexiu District, Guangzhou City, Guangdong Province, 510070 Patentee after: Institute of intelligent manufacturing, Guangdong Academy of Sciences Address before: Room 612, Building 13, Compound 100, Xianlie Middle Road, Yuexiu District, Guangzhou City, Guangdong Province, 510070 Patentee before: GUANGDONG INSTITUTE OF INTELLIGENT MANUFACTURING |
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