CN110962957A - Double-leg double-wheel compound motion robot - Google Patents
Double-leg double-wheel compound motion robot Download PDFInfo
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- CN110962957A CN110962957A CN201911171489.8A CN201911171489A CN110962957A CN 110962957 A CN110962957 A CN 110962957A CN 201911171489 A CN201911171489 A CN 201911171489A CN 110962957 A CN110962957 A CN 110962957A
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- 150000001875 compounds Chemical class 0.000 title claims abstract description 15
- 210000002414 leg Anatomy 0.000 claims description 32
- 210000000689 upper leg Anatomy 0.000 claims description 29
- 239000010720 hydraulic oil Substances 0.000 claims description 14
- 239000003921 oil Substances 0.000 claims description 12
- 210000001503 joint Anatomy 0.000 claims description 11
- 210000004394 hip joint Anatomy 0.000 claims description 8
- 210000000323 shoulder joint Anatomy 0.000 claims description 8
- 210000002310 elbow joint Anatomy 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 6
- 230000009191 jumping Effects 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract description 2
- 230000003139 buffering effect Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 2
- 244000309466 calf Species 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 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
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A double-leg double-wheel compound motion robot comprises a trunk part, two mechanical legs and two mechanical arms; the trunk part comprises a trunk and a crotch, the trunk and the crotch are connected through a rotary joint, and a trunk-crotch hydraulic cylinder is connected between the trunk and the crotch; the two mechanical legs are arranged on two sides of the crotch, each mechanical leg is connected with the crotch through a rotary joint, and the bottom end of each mechanical leg is provided with a driving wheel; two mechanical arms are arranged on two sides of the trunk and connected with the trunk through a rotary joint. The robot has the capabilities of walking upright and jumping of a biped robot and high moving speed of a wheeled robot. Meanwhile, the mechanical arm can realize the functions of grabbing, carrying and the like; when the robot walks on a flat road surface, the robot can drive the robot to move by using the driving wheel, so that the traveling speed is accelerated, and the utilization efficiency of energy is improved; when the function of crossing the barrier is to be realized, the robot can exert the advantages of the two-foot motion mode, and the functions of jumping, squatting, landing buffering and the like are realized.
Description
Technical Field
The invention relates to a robot compositely driven by two legs and two wheels, belonging to the technical field of leg-wheel type mobile robots.
Background
Compared with the traditional wheel type or crawler type robot, the leg-foot type robot has the advantages of being suitable for complex terrains, flexible in movement, strong in obstacle crossing capability and the like, but the existing leg-foot type robot has the defects of low walking speed, low driving efficiency and the like; the wheel type robot has the advantages of high walking speed, high driving efficiency and the like, but the terrain adaptability and the obstacle crossing capability are limited. The current research mainly focuses on the aspects of leg-foot type robots and wheel type robots, and the advantages of strong terrain adaptability and high movement speed of the two robots cannot be utilized in a centralized manner, so that the practical application requirements are difficult to meet.
The common driving modes of the robot include hydraulic driving and motor driving, and the hydraulic driving has faster dynamic response and higher power density, so that the robot has stronger flexible motion capability and larger load bearing capability.
The wheel leg type humanoid robot with oil flowing inside disclosed in Chinese patent document CN110217308A is characterized in that each leg is provided with two front-back swing joints which are driven by a hydraulic oil cylinder, a guide rail and a connecting rod, the small arm swing of each mechanical arm is driven by the hydraulic oil cylinder, the guide rail and the connecting rod, and the shoulder joint movement is driven by the hydraulic oil cylinder, the guide rail, a rack and a gear. The joint driving mode is complex and simple, and the freedom degree of the hip joint has no side swing freedom degree.
CN108128366A discloses a human-shaped wheeled robot with a suspension structure, which only has a trunk and lower limb mechanism, each leg and knee joint has 1 degree of freedom of forward and backward swinging, and the hip joint has 1 degree of freedom of forward and backward swinging, 1 degree of freedom of side swinging and 1 degree of freedom of torsion, and is driven by a hydraulic cylinder. But the robot does not have the body pitching freedom degree, can not realize the walking, jumping and other movement modes of the biped robot in a complex terrain, and does not have higher movement speed, stronger environment adaptability and obstacle crossing capability.
Disclosure of Invention
The invention provides a leg-wheel composite motion robot, which aims at solving the problems that the existing leg-foot motion efficiency is low and the wheel type motion terrain adaptability is insufficient, the robot uses a driving wheel to replace feet in the traditional leg-foot structure, the driving wheel is used for controlling the motion on a flat road surface, the motion forms of walking, jumping and the like of a biped robot can be realized on complex terrain, and meanwhile, the robot has higher motion speed, stronger environment adaptability and obstacle crossing capability, and meanwhile, two mechanical arms are also arranged on the trunk of the robot, and the functions of grabbing, carrying and the like can be realized.
In order to achieve the purpose, the double-leg double-wheel compound motion robot adopts the following technical scheme:
the robot comprises a trunk part, two mechanical legs and two mechanical arms; the trunk part comprises a trunk and a crotch, the trunk and the crotch are connected through a rotary joint, and a trunk-crotch hydraulic cylinder is connected between the trunk and the crotch; the two mechanical legs are arranged on two sides of the crotch, each mechanical leg is connected with the crotch through a rotary joint (a mechanical leg-crotch connecting piece), and the bottom end of each mechanical leg is provided with a driving wheel; two mechanical arms are arranged on two sides of the trunk and connected with the trunk through a rotary joint.
The mechanical legs comprise thighs and shanks, the thighs are connected with the crotch through hip joints, and the shanks are connected with the thighs through knee joints; the hip joint is a two-degree-of-freedom joint, comprises a side swing and a pitching degree of freedom, and is driven by two hydraulic cylinders, a side swing driving oil cylinder is arranged in the crotch, and a pitching driving oil cylinder is arranged in the thigh; the knee joint is a single-degree-of-freedom pitching joint, and the driving oil cylinder is arranged inside the thigh.
The mechanical arm comprises a shoulder part, a large arm, a small arm and a mechanical arm, wherein the shoulder part is connected with the large arm through a shoulder joint, and the large arm is connected with the small arm through an elbow joint; the shoulder joint is a two-degree-of-freedom joint, comprises a rotation degree of freedom and a pitching degree of freedom, and is driven by two hydraulic cylinders, two ends of the rotation driving cylinder are respectively arranged in the trunk and the shoulder, and the pitching driving cylinder is arranged in the big arm; the elbow joint is a single-degree-of-freedom pitching joint and is driven by a hydraulic oil cylinder, and the hydraulic oil cylinder is arranged in the large arm; the mechanical arm is connected with the small arm with local freedom degree, and the opening and closing are controlled by a hydraulic cylinder in the small arm.
The driving wheel is connected with the motor, and the motor is fixedly connected to the bottom of the mechanical leg (lower end of the lower leg). And the motor rotating shaft is provided with an encoder for detecting the rotation angle displacement.
And encoders are arranged at joints of the mechanical legs and the mechanical arms and used for detecting angular displacement of the rotary joints.
And force sensors are arranged at the output ends of the hydraulic cylinders in the mechanical legs and the mechanical arms and are used for detecting the output force of the hydraulic cylinders.
And a six-dimensional force sensor is arranged at the joint of the manipulator and the small arm and used for detecting the output force of the mechanical arm.
Each joint of the robot is directly driven by a hydraulic oil cylinder, the driving mode is simpler than that of the joint of the existing robot, 1 side-swing freedom degree is added at the hip joint, 1 torsion freedom degree is reduced, 1 trunk pitching freedom degree and 2 groups of upper limb mechanisms are added.
The leg wheel type compound motion robot mainly faces to complex terrains such as field jungles and the like, and meets the requirement of autonomous movement. When the robot walks on a flat road surface, the robot can drive the robot to move by using the driving wheel, so that the traveling speed is accelerated, and the utilization efficiency of energy is improved; when the function of crossing the barrier is to be realized, the robot can exert the advantages of the two-foot motion mode, and the functions of jumping, squatting, landing buffering and the like are realized.
The invention can use different motion modes according to the specific terrain, controls the motion of three degrees of freedom of the legs through the hydraulic cylinder, and swings the thighs and the calves to proper positions to use a wheel type travel mode, and has the capabilities of upright walking, jumping and high moving speed of the wheel type robot. Simultaneously, the mechanical arm can realize the functions of grabbing, carrying and the like.
Drawings
FIG. 1 is a schematic structural diagram of a two-leg and two-wheel compound motion robot of the present invention;
FIG. 2 is a rear view of FIG. 1;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic structural view of a mechanical leg according to the present invention;
FIG. 5 is an exploded detail view of the mechanical leg of the present invention;
FIG. 6 is a schematic view of the construction of the robotic arm of the present invention;
FIG. 7 is an exploded detail view of the robotic arm of the present invention;
FIG. 8 is an exploded detail view of the drive wheel of the present invention;
fig. 9 is an assembly view of the drive wheel of the present invention.
In the figure: 1. the mechanical leg-crotch connecting piece comprises a trunk, 2 parts of a crotch, 3 parts of a thigh, 4 parts of a shank, 5 parts of a shoulder, 6 parts of a big arm, 7 parts of a small arm, 8 parts of a mechanical arm, 9 parts of a motor, 91 parts of a shell, 92 parts of a stator, 93 parts of a rotor, 94 parts of a rotor shaft, 95 parts of a bearing cover, 96 parts of an outer cover, 97 parts of a deep groove ball bearing, 10 parts of a driving wheel, 101 parts of a hub, 102 parts of a tire casing, 11 parts of a trunk-crotch hydraulic cylinder, 12 parts of a thigh hydraulic cylinder, 13 parts of a shank hydraulic cylinder, 14 parts of a mechanical leg-crotch hydraulic cylinder, 15 parts of a mechanical leg-crotch connecting piece, 16 parts of a first connecting rod, 17 parts of a second connecting rod, 18 parts of a shoulder hydraulic cylinder, 19 parts of a big arm hydraulic cylinder.
Detailed Description
All joints of the robot provided by the invention are directly driven by hydraulic cylinders, the driving mode is simpler than that of the joints in the prior art, 1 lateral swing freedom degree is increased and 1 torsion freedom degree is reduced at hip joints, and 1 trunk pitching freedom degree and 2 groups of upper limb mechanisms are increased.
The two-legged and two-wheeled compound motion robot of the present invention, as shown in fig. 1, 2 and 3, includes a trunk portion, mechanical legs, a driving wheel 10 and mechanical arms. The trunk part is composed of a trunk 1 and a crotch 2, the trunk 1 and the crotch 2 are connected by a rotary joint, a trunk-crotch hydraulic cylinder 11 (see fig. 2) is connected between the two, and the pitching degree of freedom of the trunk 1 is controlled by the trunk-crotch hydraulic cylinder 11. Two mechanical legs are arranged on either side of the crotch portion 2, each mechanical leg being connected to the crotch portion 2 by a mechanical leg-crotch connection 15 (functioning as a swivel joint, see fig. 3, 4 and 5). Two mechanical arms are arranged on both sides of the trunk 1 and are connected to the trunk 1 by shoulders 5. The bottom end of each mechanical leg (namely the lower end of the lower leg 4)) is provided with a driving wheel 10, the driving wheel 10 is connected with a motor 9, and the motor 9 is fixedly connected with the lower end of the lower leg 4 through a motor connecting piece 22.
Structure of mechanical leg referring to fig. 4 and 5, comprising thigh 3 and shank 4, thigh 3 is connected to crotch 2 by mechanical leg-crotch connection 15, and shank 4 is hinged to thigh 3 (the hinge axis is a knee joint). One end of the thigh 3 is hinged with a mechanical leg-crotch connecting piece 15, the mechanical leg-crotch connecting piece 15 is hinged with the crotch 2, a mechanical leg-crotch hydraulic cylinder 14 (side swing driving cylinder) is arranged in the crotch 2, and a piston rod of the mechanical leg-crotch hydraulic cylinder 14 is hinged with the mechanical leg-crotch connecting piece 15. The mechanical leg-crotch hydraulic cylinder 14 controls the side swing freedom of the mechanical legs. A thigh hydraulic cylinder 12 and a shank hydraulic cylinder 13 are installed in the thigh 3. The piston rods of the thigh hydraulic cylinders 12 are articulated to the mechanical leg-crotch links 15, the thigh hydraulic cylinders 12 controlling the pitch degrees of freedom of the thighs 4. A piston rod of the shank hydraulic cylinder 13 is hinged with one end of a first connecting rod 16 and one end of a second connecting rod 17, the other end of the first connecting rod 16 and the other end of the second connecting rod 17 are connected with a shank 4, and the shank hydraulic cylinder 13 controls the pitching degree of freedom of the shank 4. The three rotary joints are all provided with encoders for detecting angular displacement of the three joints. The output ends of the thigh hydraulic cylinder 12, the shank hydraulic cylinder 13 and the mechanical leg-crotch hydraulic cylinder 14 are all provided with force sensors for detecting the output forces of three linear oil cylinders, and each oil cylinder is a linear hydraulic cylinder.
The working process of each joint in the mechanical leg is as follows:
the mechanical leg-crotch hydraulic cylinder 14 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion, the telescopic motion drives the mechanical leg-crotch connecting piece 15 to rotate relative to the crotch 2, and because the joint of the mechanical leg-crotch connecting piece 15 and the thigh 3 has no side swing freedom degree, the rotation of the mechanical leg-crotch connecting piece 15 drives the thigh 3 to rotate in the same direction, so that the control of the side swing freedom degree of the mechanical leg is realized. The thigh hydraulic cylinder 12 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion, and the telescopic motion drives the thigh 3 to rotate relative to the mechanical leg-crotch connecting piece 15, so that the control of the pitching freedom degree of the thigh 3 is realized. The shank hydraulic cylinder 13 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion, and the telescopic motion drives the link mechanism formed by the first link 16 and the second link 17 to move (the swing range of the shank 4 can be expanded by using the link mechanism), so that the shank 4 is driven to rotate relative to the thigh 3, and the control of the pitching degree of freedom of the shank 4 is realized.
The structure of the mechanical arm is shown in fig. 6 and 7, and mainly comprises a shoulder part 5, a big arm 6, a small arm 7 and a mechanical arm 8, wherein the shoulder part 5 is connected with the big arm 6 through a shoulder joint, the big arm 6 is connected with the small arm 7 through an elbow joint, the shoulder joint and the elbow joint are rotary joints, and the rotary joints are provided with encoders for detecting the angular displacement of the three joints. A shoulder hydraulic cylinder 18 is connected between the shoulder 5 and the trunk 1, and the shoulder hydraulic cylinder 18 controls the rotational freedom of the shoulder joint. One end of the large arm 6 is hinged to the shoulder 5. A large arm hydraulic cylinder 19 and a small arm hydraulic cylinder 20 are arranged in the large arm 6; a piston rod of the large arm hydraulic cylinder 19 is hinged with the shoulder part 5 to control the pitching degree of freedom of the large arm; the piston rod of the arm cylinder 20 is connected to the arm 7 to control the degree of freedom of the arm in pitch. The manipulator 8 is connected with the small arm 7 through a six-dimensional force sensor 21, and the six-dimensional force sensor 21 is used for detecting the output force of the mechanical arm. The manipulator 8 has a local degree of freedom, and the opening and closing of the manipulator 9 is controlled by a hydraulic cylinder inside the arm 7. Force sensors are arranged at the output ends of the three hydraulic cylinders, namely the shoulder hydraulic cylinder 18, the large-arm hydraulic cylinder 19 and the small-arm hydraulic cylinder 20, and are used for detecting the output forces of the three linear oil cylinders.
The working process of each joint in the mechanical arm is as follows:
the shoulder hydraulic cylinder 18 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion to drive the shoulder 18 to rotate relative to the trunk 1, so that the rotary motion of the whole mechanical arm connected with the shoulder hydraulic cylinder is controlled, and the rotary degree of freedom is controlled. The large arm hydraulic cylinder 19 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion, and the telescopic motion of the linear oil cylinder drives the large arm 6 to rotate relative to the shoulder 5, so that the pitching freedom degree of the large arm 6 is controlled. The small arm hydraulic cylinder 19 receives hydraulic oil with a certain flow and direction, and is driven to generate corresponding telescopic motion, and the telescopic motion of the linear oil cylinder drives the small arm 7 to rotate relative to the large arm 6, so that the pitching freedom degree of the small arm 7 is controlled. The manipulator 8 is controlled by a hydraulic cylinder in the small arm 7 to realize the opening and closing movement of the hand. In a specific working process, the manipulator 8 is controlled to reach a given position through the motion of three joint degrees of freedom of the shoulder 5, the large arm 6 and the small arm 7, and functions of grabbing and carrying a target object are realized by matching with the local degree of freedom of the manipulator 8.
As shown in fig. 8 and 9, the driving wheel 10 is composed of a hub 101 and a tire cover 102, and the hub 101 is connected to the rotor shaft 94 of the motor 9 and is driven to rotate by the motor 9. The driving wheel 10 is connected with the motor 9, and the motor 9 is fixedly connected with the lower end of the lower leg 4. The motor 9 includes a housing 91, a stator 92, a rotor 93, a rotor shaft 94, a bearing cover 95, an outer cover 96, and a deep groove ball bearing 97. The stator 92 is fixedly arranged in the casing 91, the outer end of the casing 91 is provided with an outer cover 96, and the outer end of the outer cover 96 is provided with a bearing cover 95. The rotor shaft 94 is mounted between the housing 91 and the outer cover 96 by means of deep groove ball bearings 97, enabling the rotor shaft 94 to rotate relative to both. The rotor shaft 94 is provided with a rotor 93. The stator 92, rotor 93 and rotor shaft 94 are located within the housing 91 and outer cover 96, protected by both. The motor connector 21 is connected to the housing 91 and the outer cover 96, and the entire motor is connected to the lower end of the lower leg 4 through the motor connector 21.
Claims (8)
1. A double-leg double-wheel compound motion robot is characterized in that: comprises a trunk part, two mechanical legs and two mechanical arms; the trunk part comprises a trunk and a crotch, the trunk and the crotch are connected through a rotary joint, and a trunk-crotch hydraulic cylinder is connected between the trunk and the crotch; the two mechanical legs are arranged on two sides of the crotch, each mechanical leg is connected with the crotch through a rotary joint, and the bottom end of each mechanical leg is provided with a driving wheel; two mechanical arms are arranged on two sides of the trunk and connected with the trunk through a rotary joint.
2. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: the mechanical legs comprise thighs and shanks, the thighs are connected with the crotch through hip joints, and the shanks are connected with the thighs through knee joints; the hip joint is a two-degree-of-freedom joint, comprises a side swing and a pitching degree of freedom, and is driven by two hydraulic cylinders, a side swing driving oil cylinder is arranged in the crotch, and a pitching driving oil cylinder is arranged in the thigh; the knee joint is a single-degree-of-freedom pitching joint, and the driving oil cylinder is arranged inside the thigh.
3. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: the mechanical arm comprises a shoulder part, a large arm, a small arm and a mechanical arm, wherein the shoulder part is connected with the large arm through a shoulder joint, and the large arm is connected with the small arm through an elbow joint; the shoulder joint is a two-degree-of-freedom joint, comprises a rotation degree of freedom and a pitching degree of freedom, and is driven by two hydraulic cylinders, two ends of the rotation driving cylinder are respectively arranged in the trunk and the shoulder, and the pitching driving cylinder is arranged in the big arm; the elbow joint is a single-degree-of-freedom pitching joint and is driven by a hydraulic oil cylinder, and the hydraulic oil cylinder is arranged in the large arm; the mechanical arm is connected with the small arm with local freedom degree, and the opening and closing are controlled by a hydraulic cylinder in the small arm.
4. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: the driving wheel is connected with the motor, and the motor is fixedly connected to the bottom of the mechanical leg.
5. The two-legged two-wheeled compound motion robot as claimed in claim 4, wherein: and an encoder is arranged at the rotating shaft of the motor.
6. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: and encoders are arranged at joints of the mechanical legs and the mechanical arms.
7. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: and force sensors are arranged at the output ends of the hydraulic cylinders in the mechanical legs and the mechanical arms.
8. The two-legged two-wheeled compound motion robot as claimed in claim 1, wherein: and a six-dimensional force sensor is arranged at the joint of the manipulator and the small arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911171489.8A CN110962957A (en) | 2019-11-26 | 2019-11-26 | Double-leg double-wheel compound motion robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911171489.8A CN110962957A (en) | 2019-11-26 | 2019-11-26 | Double-leg double-wheel compound motion robot |
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| CN110962957A true CN110962957A (en) | 2020-04-07 |
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| CN201911171489.8A Pending CN110962957A (en) | 2019-11-26 | 2019-11-26 | Double-leg double-wheel compound motion robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN113021299A (en) * | 2021-04-13 | 2021-06-25 | 山东大学 | Omnibearing motion control method for double-leg-wheel composite robot |
| CN113184077A (en) * | 2021-06-09 | 2021-07-30 | 曾嘉禹 | Smart task type biped robot based on SLAM and machine vision and control method thereof |
| CN113562093A (en) * | 2021-08-09 | 2021-10-29 | 北京理工大学 | Wheel-foot robot with balancing device |
| CN115465382A (en) * | 2022-10-10 | 2022-12-13 | 吉林大学 | Passive biped robot with bionic hip joint and ankle joint |
| CN115583298A (en) * | 2022-11-03 | 2023-01-10 | 哈尔滨工业大学 | Variable-configuration wheeled robot structure |
| WO2023093869A1 (en) * | 2021-11-26 | 2023-06-01 | 北京可以科技有限公司 | Robot |
| CN116215694A (en) * | 2022-12-26 | 2023-06-06 | 北京理工大学 | Active-passive combined shank structure of suspension cushioning wheel leg robot |
| WO2023133743A1 (en) * | 2022-01-12 | 2023-07-20 | 冯春魁 | Mobile apparatus, control method, control device, storage medium and accessory |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112550509A (en) * | 2020-11-12 | 2021-03-26 | 武汉理工大学 | Foot joint structure of wheeled walking vehicle steering drive axle |
| CN113021299A (en) * | 2021-04-13 | 2021-06-25 | 山东大学 | Omnibearing motion control method for double-leg-wheel composite robot |
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| WO2023133743A1 (en) * | 2022-01-12 | 2023-07-20 | 冯春魁 | Mobile apparatus, control method, control device, storage medium and accessory |
| CN115465382A (en) * | 2022-10-10 | 2022-12-13 | 吉林大学 | Passive biped robot with bionic hip joint and ankle joint |
| CN115583298A (en) * | 2022-11-03 | 2023-01-10 | 哈尔滨工业大学 | Variable-configuration wheeled robot structure |
| CN116215694A (en) * | 2022-12-26 | 2023-06-06 | 北京理工大学 | Active-passive combined shank structure of suspension cushioning wheel leg robot |
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Application publication date: 20200407 |
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