CN110375733B - Cross gantry foot type robot test platform - Google Patents
Cross gantry foot type robot test platform Download PDFInfo
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- CN110375733B CN110375733B CN201910727980.8A CN201910727980A CN110375733B CN 110375733 B CN110375733 B CN 110375733B CN 201910727980 A CN201910727980 A CN 201910727980A CN 110375733 B CN110375733 B CN 110375733B
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- 238000012360 testing method Methods 0.000 title claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 14
- 230000005021 gait Effects 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 8
- 230000001133 acceleration Effects 0.000 claims description 2
- 238000001514 detection method Methods 0.000 claims 1
- 230000007935 neutral effect Effects 0.000 claims 1
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- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000005484 gravity Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
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- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The embodiment of the invention provides a testing platform of a cross-shaped gantry foot type robot, which is used for detecting gait parameters of the foot type robot in different states, and adopts the technical scheme that: the robot supporting device comprises a supporting protection device, a force sensor and a controller, wherein the supporting protection device comprises a supporting mechanism and a clamping mechanism, the clamping mechanism is used for fixing a robot, the force sensor is fixedly connected to the supporting mechanism so as to detect force information received by the supporting mechanism, and the force sensor is in communication connection with the controller. The invention has the beneficial effects that: the data information obtained by the test platform can accurately obtain real-time inertia moment data required by gait planning of the robot without physical modeling, and reduces the occurrence of the condition that the actual walking and planning of the robot are not accordant or even the robot cannot walk.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cross-portal foot type robot testing platform.
Background
Compared with a wheeled robot, the legged bionic robot has stronger adaptability to terrain and can replace human beings to work in various occasions, however, the legged robot is difficult to perform accurate mechanical modeling due to a complex structure, the walking condition of the actual robot is far different from the planning condition even the robot cannot walk due to inaccurate mechanical modeling, and how to perform stable and effective walking planning and control on the legged robot often happens, which is always a difficult problem in the robot science field, an important difficulty in the walking control of the legged robot is that the torque generated in the walking process easily enables the biped robot to overturn so as to cause the damage of important components, in order to avoid the problem, modern scientific researchers plan the motion tracks of the biped robot by using various methods, and no matter how to obtain the torque data applied to the whole when the robot swings at two legs, the traditional method is to estimate through physical modeling, but the hardware structure of the biped robot is complex, so that the difficulty of physical modeling is high, time and labor are wasted, and the precision is difficult to ensure, so that the obtained torque data has large errors, and the control is invalid.
Meanwhile, in the prior art, the construction cost of a test platform for testing the foot robot is high, the experimental period is long, huge manpower, material resources and financial resources are consumed, how to construct a test platform which can calibrate the posture of the foot robot, test the gait of the foot robot and obtain real-time inertia moment data in the walking process of the robot effectively, and ensure low cost, high safety and convenience becomes a problem to be solved urgently by scientific researchers.
Disclosure of Invention
The invention aims to solve the problem that a test platform is designed, so that the posture calibration and gait test can be carried out on a foot type robot, the real-time inertia moment data applied to the whole body when the robot swings at two legs can be obtained without physical modeling, and the gait planning of the robot is carried out on the basis of the real-time inertia moment data, so that the occurrence of the failure condition of the actual robot walking control is reduced.
In order to solve the above-mentioned problems in the prior art, i.e. to obtain real-time inertia moment data applied to the whole robot during walking, an embodiment of the present invention provides a cross-gantry foot type robot testing platform, which comprises a body, a supporting protection device, a force sensor and a controller, wherein,
the supporting protection device comprises a supporting mechanism and a clamping mechanism, the supporting mechanism and the clamping mechanism are mounted on the body, and the clamping mechanism is fixedly connected to the supporting mechanism;
the force sensor is fixedly connected to the supporting mechanism so as to detect force information borne by the supporting mechanism;
the controller comprises a signal receiving module and a signal processing module, the signal receiving module is in communication connection with the controller, and the signal processing module is in communication connection with the controller;
the force sensor is in communication connection with the controller.
In some preferred examples, the support mechanism includes a support frame and a counterweight, wherein,
the support frame comprises four supports, the four supports can be placed on the ground and upwards support the balance block, and the four supports are perpendicular to the ground;
the balance block comprises two mutually vertical and axisymmetrical cube blocks which are fixedly connected with the support frame.
In some preferred examples, the four supports each include a first telescopic end and a second telescopic end capable of sliding relatively, the support frame further includes a support leg, an upper end of the support leg is fixed to the first telescopic end of the support frame, the balance weight is placed at the second telescopic end of the support frame, and a lower end of the support leg includes at least three support portions uniformly arranged on a peripheral side of the first telescopic section of the support frame.
In some preferred examples, the four stents are uniformly arranged annularly.
In some preferred examples, the balance weight is a cross balance weight, and the center of the cross balance weight is provided with a through hole.
In some preferred examples, the cross-shaped balance weight is a central symmetrical structure.
In some preferred examples, the support frame is a telescopic structure.
In some preferred examples, the supporting frame is provided with a height adjusting device for adjusting the telescopic position of the supporting frame, the height adjusting device comprises a locking mechanism and an adjusting mechanism, wherein,
the adjusting mechanism is used for adjusting the telescopic position of the support frame based on the gear rack;
the locking mechanism is used for locking the supporting position of the supporting frame based on the threaded knob.
In some preferred examples, the force sensors are four, and the four force sensors are uniformly and fixedly arranged on the periphery of the midline of the body.
The invention has the beneficial effects that:
1) the invention provides a cross gantry type foot type bionic robot test platform, which can be used for carrying out joint debugging and posture calibration on a biped robot and simultaneously carrying out gait test on the robot in a suspended state.
2) This test platform simple structure, low in manufacturing cost can make engineer and scientific research personnel when can be with it to do ordinary unsettled walking experiment platform, play the effect of supplementary biped robot walking control, compare in directly carrying out the level land walking test, safer to tester and robot itself, and can practice thrift time and energy spent on robot physical modeling, shorten the experimental period, improve the accuracy and the validity of control.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic perspective view of an embodiment of the present invention.
Description of reference numerals: 1-a cross balance block, 2-a trunk fixing tool, 3-a force sensor, 4-a support frame, 5-a sling hole and 6-a height adjusting device.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
In the prior art, physical modeling is often needed for gait planning of a foot robot, real-time inertia moment in the walking process of the robot is estimated through kinematics and dynamics, and in order to reduce manpower and material resources consumed by modeling and the like, shorten the experimental period and obtain more accurate real-time inertia moment, the invention provides a testing platform of a cross gantry foot robot, which comprises a body, a support protection device, a force sensor and a controller.
The supporting protection device comprises a supporting mechanism and a clamping mechanism, the supporting mechanism and the clamping mechanism are installed on the body, and the clamping mechanism is fixedly connected to the supporting mechanism.
The force sensor is fixedly connected to the supporting mechanism so as to detect force information received by the supporting mechanism.
The controller comprises a signal receiving module and a signal processing module, the signal receiving module is in communication connection with the controller, and the signal processing module is in communication connection with the controller.
The force sensor is in communication connection with the controller.
The invention will be further described with reference to the accompanying drawings and in connection with an embodiment.
Referring to fig. 1, an embodiment of the present invention discloses a cross-gate foot type robot testing platform, including support frames uniformly arranged on the periphery of the body, where the support frames include four supports 4, the four supports are placed on the ground and do not slide relative to the ground, the four supports are uniformly arranged in a ring shape, each of the four supports includes a first telescopic end and a second telescopic end, the support frame further includes a support leg, the upper end of the support leg is fixed to the first telescopic end of the support frame, the balance weight is placed on the second telescopic end of the support frame, the lower end of the support leg includes at least three support portions, the at least three support portions are uniformly arranged on the periphery of the first telescopic section of the support frame, in an embodiment of the present invention, three support portions are preferred, and as is well known to those skilled in the art, three support portions can be provided as needed, The four or more supporting parts ensure the stability of the whole test platform, in addition, a pressing device can be arranged according to the requirement to press the bottom of the supporting frame, and the invention is included in the protection scope of the invention as long as the aim that the body does not slide relative to the ground is achieved.
Furthermore, the support frame is of a telescopic structure, the support frame can be arranged at the whole height according to the working requirement, and the robot is guaranteed to be fixed on the body and then suspended from the ground under the telescopic adjustment of the support frame.
Further, install height adjusting device 6 on the support frame, be used for adjusting the telescopic position of support frame, height adjusting device includes locking mechanism and adjustment mechanism, wherein, adjustment mechanism chooses for use rack and pinion structure, adjusts the telescopic position of support frame, locking mechanism chooses for use the screw thread knob structure, comes the locking of the support position of support frame.
Further, four force sensors 3 are installed on the side faces of the upper ends of the four supports 4, the four force sensors are used for detecting force information received by the four supports respectively, and the four force sensors are evenly arranged on the periphery side of the center line of the body.
In an embodiment of the present invention, the testing platform further includes a cross balance block 1 contacting the four force sensors 3 and disposed on the supporting frame, the cross balance block includes two mutually perpendicular and axisymmetric cube blocks, the cube blocks are fixedly connected to the supporting frame, and the cross balance block is also in a centrosymmetric structure.
Furthermore, a through hole is formed in the center of the cross-shaped balance block, the central axis of the through hole is coincided with the central axis of the body, and the through hole can be used for enabling a cable of the hoisting robot or a lifting hook of the crane to penetrate through and facilitating suspension of the fixed robot in the ground.
Further, the lower end of the cross balance block is provided with a clamping mechanism, in one embodiment of the invention, the clamping mechanism is preferably a trunk fixing tool, namely, the trunk fixing device is used for fixing the robot to reach a target state, the trunk fixing device is provided with four trunk fixing devices which are uniformly arranged around the midline of the body, i.e., to ensure that the four torso holders are equidistant from the center of the through-hole of the cross-shaped weight, it is preferable, as will be appreciated by those skilled in the art, that the torso holders may be clamped to the robot using a clamping mechanism, or, the trunk fixing tool uses a thread fixing mechanism to lock the robot, it should be noted that, in the present invention, the trunk fixture is not limited to the above-mentioned method for fixing the robot, and those skilled in the art may adopt other more advanced methods as long as the fixing purpose can be achieved.
Furthermore, four grooves are formed below the cross-shaped balance block, the four grooves correspond to the geometric shapes of the force measuring ends of the four force sensors on the support frame, the force measuring ends of the force sensors can be naturally embedded into the grooves in the cross-shaped balance block, namely, the four force sensors fixedly connected to the support frame and the cross-shaped balance block are respectively connected in an embedded manner through the four grooves, and therefore the cross-shaped balance block is guaranteed to slide in the horizontal direction.
The invention is further described in connection with an embodiment with reference to the drawings.
Referring to the attached figure 1, the posture calibration of the robot is carried out, which comprises four force sensors, a cross balance block, a support frame, a height adjusting device arranged on the support frame, a trunk fixing device fixedly arranged on the bottom surface of the cross balance block, four force sensors with data return to zero, a target robot is hoisted by a hoisting rope passing through a hoisting rope hole arranged in the middle of the cross balance block or a hoisting ring of a mini-crane, the height adjusting device is adjusted to be lifted off, the target robot is fixed on the trunk fixing device, the trunk fixing device is known by technicians in the field, the trunk fixing device can clamp and fix the target robot through a clamping device or fix the target robot through a clamping mechanism, and the target robot can be guaranteed to be lifted off as long as the fixation effect of the target robot can be achieved, the trunk posture is medium.
But the long-range program control of computer target robot, computer communication control target robot guarantees that target robot is in the trunk in the positive state, and four force sensor real-time measurement receive force information, according to four sensor data information, the fine setting target robot gesture is up to two liang of readings symmetries of four force sensor, accomplish promptly right target robot initial stage gesture calibration. The force sensor is in communication connection with the controller, the controller comprises a signal receiving module and a signal processing module, the signal receiving module is in communication connection with the controller, and the signal processing module is in communication connection with the controller.
With reference to the attached figure 1, the gait test is carried out on the target robot, the walking process is continuously propelled forwards in a periodic mode, each walking cycle can be divided into a single-foot supporting stage and a double-foot supporting stage, the single-foot supporting stage simulates the whole process that one foot lands on the ground, the rear foot moves to the front of the supporting leg from the place where the tiptoe of the rear foot leaves the ground, and the heel lands; in the supporting stage of the feet, the whole process that both feet are grounded, the heels of the feet are moved to the tiptoes of the feet to leave the ground and the initial state of walking are simulated, in one embodiment of the invention, the ground is a certain position set in the air, the feet of the target robot are started to walk circularly for a certain time, the four force sensors measure the data information of each time point in real time and feed back the data information to the computer, the torque obtained in the walking process is analyzed to screen out effective data which can ensure that the target robot does not topple in the walking process and store the effective data, in the testing process, the walking speed of the robot under different environments can be simulated according to requirements, the test is carried out for a plurality of times at different speeds, the torsional moment of the target robot to the robot body is measured, the stability of the body of the target robot is analyzed, and the data information whether the target robot topples or not is analyzed, therefore, gait test is carried out on the target robot, and effective data for ensuring the target robot to walk stably without overturning are obtained.
As will be appreciated by those skilled in the art, the target robot may be tested by the computer for both feet, or may be tested for movement under different attitude commands for a single foot.
In the actual use process, the robot is suspended in the air in a mode including but not limited to a lifting rope, the robot body is fixed on the body fixing tool on the cross balance block, the joints of the robot can be debugged, the gravity center position of the whole robot is judged according to the numerical values of the four force sensors positioned in the four directions, and the posture of the robot is calibrated based on the numerical values; under the condition that the trunk of the robot is fixed, the gait of the robot is operated, the inertial force and the inertial moment of the robot, which are generated by the angular acceleration in the foot motion process, can be obtained from the numerical value change of the four-direction force sensor, and the gait planning can be adjusted according to the inertial force and the inertial moment.
The conventional gait control and adjustment method is that simply speaking, according to the inertia moment, the position of the gravity center of the robot in the walking process is adjusted, so that a certain distance is reserved between the gravity center and the foot landing point of the robot, the gravity generates moment, the moment is offset with the inertia moment in real time, and stable biped walking is realized.
The test platform is low in manufacturing cost, provides a solution for the walking control problem of the foot robot, reduces the occurrence of the situation that the actual robot walking condition is far away from the planning or even the robot cannot walk due to inaccurate mechanical modeling, provides a technical basis for the popularization of the foot robot in the future, and has important significance.
While the invention has been described with reference to a preferred embodiment, various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention, and particularly, features shown in the various embodiments may be combined in any suitable manner without departing from the scope of the invention. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
In the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, which are for convenience of description only, and do not indicate or imply that the devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
Claims (6)
1. A cross-shaped gantry foot type robot testing platform is characterized by comprising a body, a supporting and protecting device, a force sensor and a controller, wherein the supporting and protecting device comprises a supporting mechanism and a clamping mechanism, the supporting mechanism and the clamping mechanism are mounted on the body, and the clamping mechanism is fixedly connected to the supporting mechanism; the supporting mechanism comprises a supporting frame and a cross-shaped balance block, the supporting frame comprises four supports, and the four supports are arranged perpendicular to the ground and upwards support the cross-shaped balance block; the cross balance block comprises two mutually vertical and axisymmetric cube blocks, and the cube blocks are fixedly connected with the support frame; the cross balance blocks are in a central symmetrical structure; a through hole is formed in the center of the cross-shaped balance block, the central axis of the through hole is superposed with the central axis of the body, and the through hole is used for a cable of the hoisting robot or a lifting hook of the crane to penetrate so as to fix the robot to be suspended above the ground; the support is provided with a height adjusting device for adjusting the telescopic position of the support frame;
the force sensor is fixedly connected to the supporting mechanism; the four force sensors are uniformly arranged on the periphery of the center line of the body so as to respectively detect force information borne by the four brackets;
four grooves are arranged below the cross-shaped balance block, and force measuring ends of the four force sensors are respectively embedded into the four grooves;
the controller comprises a signal receiving module and a signal processing module, the signal receiving module is in communication connection with the controller, and the signal processing module is in communication connection with the controller;
the force sensor is in communication connection with the controller;
under the untested state, the data of the four force sensors are reset to zero, the target robot is lifted by a cable rope or a lifting hook penetrating through the through hole, the height adjusting device is adjusted to be lifted off the ground until the target robot is lifted off, and the target robot is fixed on the clamping mechanism to enable the posture of the trunk of the target robot to be neutral;
in the initial attitude calibration process, the four force sensors measure the force information in real time, and the attitude of the target robot is finely adjusted according to the data information of the four force sensors until the four force sensors have symmetrical readings in pairs, so that the initial attitude calibration of the target robot is completed;
during the test, the gait of the robot is operated, the inertial force and the inertial moment of the robot generated by the angular acceleration during the foot movement are obtained through the detection of the four force sensors, and the gait planning is adjusted according to the inertial force and the inertial moment.
2. The testing platform of the cross-gate legged robot according to claim 1, wherein four of the supporting frames each include a first telescopic end and a second telescopic end that can slide relatively, the supporting frame further includes a supporting leg, an upper end of the supporting leg is fixed to the first telescopic end of the supporting frame, the balance weight is placed at the second telescopic end of the supporting frame, a lower end of the supporting leg includes at least three supporting portions, and the at least three supporting portions are uniformly arranged around the first telescopic section of the supporting frame.
3. The cross-gantry-foot robot test platform of claim 2, wherein four of the supports are uniformly arranged in a ring.
4. The cross-gantry-foot-type robot testing platform of claim 2, wherein the supporting frame is a telescopic structure.
5. The cross-gantry-foot robotic test platform of claim 4, wherein the height adjustment device comprises a locking mechanism and an adjustment mechanism, wherein,
the adjusting mechanism is used for adjusting the telescopic position of the support frame based on the gear rack;
the locking mechanism is used for locking the supporting position of the supporting frame based on the threaded knob.
6. The testing platform of the cross-gantry foot robot of claim 1, wherein the clamping mechanism is a trunk fixture, the trunk fixture is fixedly installed on the body, the number of the trunk fixtures is four, and the four trunk fixtures are uniformly arranged on the periphery of the central line of the body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910727980.8A CN110375733B (en) | 2019-08-08 | 2019-08-08 | Cross gantry foot type robot test platform |
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| CN201910727980.8A CN110375733B (en) | 2019-08-08 | 2019-08-08 | Cross gantry foot type robot test platform |
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| CN110375733B true CN110375733B (en) | 2021-05-25 |
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| DE10300827A1 (en) * | 2003-01-10 | 2004-07-22 | Intelligendt Systems & Services Gmbh & Co Kg | Device for ultrasound inspection of a workpiece in transmission technology |
| CN102556197B (en) * | 2011-12-29 | 2013-07-24 | 浙江大学 | Single leg experimental platform for multi-foot walking robot |
| KR101367724B1 (en) * | 2012-09-17 | 2014-02-28 | 한국신발피혁연구원 | Impact test device for shoes |
| CN106625778B (en) * | 2017-01-19 | 2023-05-26 | 长安大学 | Motion control test platform and test method for foot-type bionic robot |
| CN106989909B (en) * | 2017-04-26 | 2019-03-29 | 中国人民解放军国防科学技术大学 | A kind of walking mechanism handling capacity test platform for mobile robot |
| CN107389054A (en) * | 2017-07-12 | 2017-11-24 | 重庆邮电大学 | Robot testing's platform |
| CN110000811A (en) * | 2019-02-27 | 2019-07-12 | 哈尔滨工业大学 | Legged type robot test loads rotation test platform with six-way |
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