CN111098948A - Leg wheel type automobile walking mechanism and control method - Google Patents
Leg wheel type automobile walking mechanism and control method Download PDFInfo
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- CN111098948A CN111098948A CN201911270802.3A CN201911270802A CN111098948A CN 111098948 A CN111098948 A CN 111098948A CN 201911270802 A CN201911270802 A CN 201911270802A CN 111098948 A CN111098948 A CN 111098948A
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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
- B62D57/028—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 having wheels and mechanical legs
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Abstract
The invention belongs to the field of automobiles, and provides a leg wheel type automobile walking mechanism which comprises a plurality of mechanical leg assemblies 1, an airplane wheel assembly 2, a first driving power supply 3 and a control system 4; one end of the mechanical leg assembly 1 is connected with an automobile chassis, and the other end of the mechanical leg assembly 1 is connected with the airplane wheel assembly 2; the mechanical leg assembly 1 can drive the airplane wheel assembly 2 to retract or extend relative to the automobile chassis; the first driving power supply 3 is electrically connected with the mechanical leg assembly 1 and is used for providing power for the mechanical leg assembly 1; the control system 4 is in signal connection with the mechanical leg assembly 1 and is used for controlling the mechanical leg assembly 1 to retract or extend relative to the automobile chassis. The automobile is composed of a multi-degree-of-freedom mechanical leg assembly, an airplane wheel assembly and a corresponding control system, so that the automobile has the functions of chassis lifting, wheel base and axle distance adjustment and the like, and can be selected through a plurality of modes such as a traditional driving mode and leg walking.
Description
Technical Field
The invention belongs to the field of automobiles, and particularly relates to a leg wheel type automobile walking mechanism.
Background
Over 400 years of development, the development of automobiles tends to be mature, and the automobiles can be completely adapted to the work of common pavements. In recent years, the development in the automotive field has mainly focused on the research of functional vehicles, pursuing higher performance and intelligence levels, and stronger environmental adaptability. The off-road vehicle specially designed for rugged ground has a higher chassis and tires with better ground gripping performance, can better adapt to various road conditions in the field, and is more and more popular. In military vehicles, most have certain off-road driving capability and can drive on poor-quality roads or areas and battlefields without roads at all. In fact, not only military vehicles but also mining vehicles mostly run in mining areas with complex terrain structures and poor road conditions, and the off-road capability is also a very important index for the mining vehicles. The method shows that the improvement and improvement of the off-road performance have important research significance in the field of automobile research.
In order to meet the driving requirements in environments such as rugged muddy, sandy and dangerous hills, the conventional automobile design usually adopts the modes of adding a differential lock, four-wheel driving or adopting all-terrain tires, strengthening a chassis, lifting the ground clearance and the like to improve the off-road performance of the automobile. The off-road performance of the automobile can be improved through the mode, but the requirements and expectations of people on the automobile are still difficult to meet, the terrain conditions are still greatly limited, too hard off-road driving techniques and experiences are also required for a driver, a lot of actual self-rescue experiences are required to be mastered, and otherwise, the driving requirements on difficult terrain are also difficult to meet. In the aspects of exploration in unknown mountainous areas and rescue after tsunami/earthquake disasters, the environment is complex, the driving terrain is unknown, and the entering of ordinary vehicles is also difficult, so that the operation efficiency and the rescue speed are very unfavorable.
Disclosure of Invention
The purpose of the invention is as follows: a leg-wheel type automobile walking mechanism is provided, which comprises a multi-degree-of-freedom mechanical leg assembly, an airplane wheel assembly and a corresponding control system. The automobile chassis is arranged below an automobile chassis, so that the automobile has the functions of chassis lifting, wheel base and wheel base adjustability and the like, and can be selected through a plurality of modes such as a traditional driving mode and leg walking.
The technical scheme of the invention is as follows: in one aspect, a leg-wheeled vehicle running gear is provided, which comprises a plurality of mechanical leg assemblies 1, a wheel assembly 2, a first driving power supply 3 and a control system 4;
one end of the mechanical leg assembly 1 is connected with an automobile chassis, and the other end of the mechanical leg assembly 1 is connected with the airplane wheel assembly 2; the mechanical leg assembly 1 can drive the airplane wheel assembly 2 to retract or extend relative to the automobile chassis;
the first driving power supply 3 is electrically connected with the mechanical leg assembly 1 and is used for providing power for the mechanical leg assembly 1;
the control system 4 is in signal connection with the mechanical leg assembly 1 and is used for controlling the mechanical leg assembly 1 to retract or extend relative to the automobile chassis.
Further, the mechanical leg assembly 1 comprises a plurality of connecting rods 12 and a plurality of driving joints 11, wherein the connecting rods 12 are connected through the driving joints 11; the driving joint 11 drives the connecting rod 12 to rotate; one end of one connecting rod is rotatably connected with the automobile chassis, and one end of the other connecting rod is rotatably connected with the wheel assembly 2.
Further, the mechanical leg assembly 1 further comprises a connecting shaft 13, and one end of one connecting rod is rotatably connected with the automobile chassis through the connecting shaft 13.
Further, the mechanical leg assembly 1 is further provided with a torque sensor 14 for detecting the torque borne by the connecting rod 12.
Further, the mechanical leg assembly 1 is also provided with a plurality of load sensors 15; the load sensors 15 are respectively positioned at the connection part of the wheel assembly 2 and the connecting rod and the connection part of the connecting rod and the automobile chassis.
Further, the wheel assembly 2 comprises a wheel hub propulsion motor 21, a brake assembly 22, a wheel hub 23 and a tire 24;
an output shaft of the hub propulsion motor 21 is connected with a hub 23, and a tire 24 is circumferentially arranged on the hub 23; the hub propulsion motor 21 is electrically connected with the first driving power supply 3, and the first driving power supply 3 is in signal connection with the control system 4; the control system 4 controls the first driving power supply 3 to supply power to the hub propulsion motor 21;
the brake component 22 is mechanically connected with the hub propulsion motor 21; the brake assembly 22 is in signal connection with the control system 4, and the control system 4 controls the brake assembly 22 to lock the output shaft of the hub propulsion motor 21.
Further, the leg wheel type automobile walking mechanism further comprises a general power assembly 5, the hub propulsion motor 21 is electrically connected with the general power assembly 5, and the general power assembly 5 is in signal connection with the control system 4; the control system 4 controls whether the overall power assembly 5 supplies power to the hub propulsion motor 21.
In another aspect, there is provided a leg-wheeled vehicle control method using the leg-wheeled vehicle travel mechanism as described above, the control method including:
controlling the mechanical leg assembly 1 to be in a walking mode: firstly, the control system 4 controls the brake assembly 22 to lock the output shaft of the hub propulsion motor 21; then, the first driving power supply 3 supplies power to the mechanical leg assembly 1, the control system 4 controls the driving joint 11 to rotate, the driving joint 11 drives the connecting rod 12 to rotate, the posture change of the mechanical leg assembly 1 is realized, and the wheel assembly 2 is folded or extended relative to the automobile chassis so as to drive the automobile to walk;
when controlling the wheel rolling and the mechanical leg assembly 1 to be in the walking mode: the control system 4 controls the brake assembly 22 to unlock the output shaft of the hub propulsion motor 21; then, the first driving power supply 3 supplies power to the mechanical leg assembly 1, the control system 4 controls the driving joint 11 to rotate, and the driving joint 11 drives the connecting rod 12 to rotate, so that the posture change of the mechanical leg assembly 1 is realized; the overall power assembly 5 supplies power to the hub propulsion motor 21, and the hub propulsion motor 21 drives the wheels to rotate;
controlling the leg-wheeled vehicle to be in a wheel rolling mode: the control system 4 controls the brake assembly 22 to unlock the output shaft of the hub propulsion motor 21; the first driving power supply 3 stops supplying power to the mechanical leg assembly 1, and the mechanical leg assembly 1 is in a locking state; the overall power assembly 5 supplies power to the hub propulsion motor 21, and the hub propulsion motor 21 drives the wheel to rotate.
The invention has the technical effects that:
the leg wheel type automobile walking mechanism is adopted to combine the mechanical legs with multiple degrees of freedom with the wheel assembly, so that the automobile has two functions of tire rotation operation and mechanical leg crawling motion, and the two functions are effectively combined, thereby not only ensuring the running speed of the automobile on a flat road surface, but also increasing the adaptability of the automobile in a complex terrain environment.
The automobile has multiple driving modes which can be selected, the switching of the driving modes can be completed in a short time, the switching can be performed at any time according to needs, the automobile can be used for multiple operation occasions, and the automobile has wider application scenes.
Drawings
FIG. 1 is a schematic view of the assembly of a leg-wheeled vehicle chassis;
FIG. 2 is a schematic view of the wheel assembly;
FIG. 3 is a schematic view of a conventional driving mode;
fig. 4 is a schematic view of a crawling walking mode.
Detailed Description
Example 1
Fig. 1 is a schematic composition diagram of a leg-wheeled vehicle running mechanism, and as shown in fig. 1, in this embodiment, a leg-wheeled vehicle running mechanism is provided, where the leg-wheeled vehicle running mechanism includes a plurality of mechanical leg assemblies 1, a wheel assembly 2, a first driving power source 3, and a control system 4.
One end of the mechanical leg assembly 1 is connected with an automobile chassis, and the other end of the mechanical leg assembly 1 is connected with the airplane wheel assembly 2; the mechanical leg assembly 1 can drive the airplane wheel assembly 2 to retract or extend relative to the automobile chassis; the first driving power supply 3 is electrically connected with the mechanical leg assembly 1 and is used for providing power for the mechanical leg assembly 1; the control system 4 is in signal connection with the mechanical leg assembly 1 and is used for controlling the mechanical leg assembly 1 to retract or extend relative to the automobile chassis.
After the leg wheel type automobile walking mechanism is installed, the mechanical leg assembly 1 is folded or extended relative to an automobile chassis, the height of the automobile chassis is adjustable, the wheel base and the wheel base are adjustable, a tire rolling rapid mode can be adopted, a leg mechanism can be adopted for walking and moving, and the leg mechanism can be folded and a traditional driving mode can be adopted.
Further, as shown in fig. 1, the mechanical leg assembly 1 includes a plurality of connecting rods 12 and a plurality of driving joints 11, wherein the plurality of connecting rods 12 are connected by the driving joints 11; the driving joint 11 drives the connecting rod 12 to rotate; one end of one connecting rod is rotatably connected with the automobile chassis, and one end of the other connecting rod is rotatably connected with the wheel assembly 2. The mechanical leg assembly 1 further comprises a connecting shaft 13, and one end of one connecting rod is rotatably connected with the automobile chassis through the connecting shaft 13.
The mechanical leg assembly 1 is an important component of a leg wheel type automobile walking mechanism, is arranged below an automobile chassis, is directly connected with an automobile suspension system, and is used for replacing an original wheel tire assembly. The mechanical leg assembly 1 is composed of a plurality of degrees of freedom, 3, 4 or 5 degrees of freedom can be selected according to the requirements of use environment and cost control requirements, the plurality of degrees of freedom are realized by a plurality of driving joints 11 and connecting rods 12, and the mechanical leg assembly is made of high-strength aluminum alloy or composite materials meeting the requirements of rigidity and strength. The connecting rods 12 are connected through hinges, the driving joints 11 are arranged in the middle of the connecting rods, the mechanical legs are retracted and extended, and the functions of changing the height of the vehicle body and changing the posture of the walking mechanism are achieved.
Further, the mechanical leg assembly 1 is further provided with a torque sensor 14 for detecting the torque borne by the connecting rod 12. The mechanical leg assembly 1 is also provided with a plurality of load sensors 15; the load sensor 15 is respectively positioned at the joint of the airplane wheel assembly 2 and the connecting rod and the joint of the connecting rod and the automobile chassis; through the conversion measurement, can derive the bearing of each connecting rod. In the embodiment, a torque sensor 14 is installed at the joint of the mechanical leg assembly 1 and the connecting rod, and a load sensor 15 is installed for sensing and feeding back the external terrain environment and the state of the external terrain environment.
Further, the wheel assembly of fig. 2 is a schematic view in composition, and as shown in fig. 2, the wheel assembly 2 includes a wheel hub propulsion motor 21, a brake assembly 22, a wheel hub 23 and a tire 24. An output shaft of the hub propulsion motor 21 is connected with a hub 23, and a tire 24 is circumferentially arranged on the hub 23; the hub propulsion motor 21 is electrically connected with the first driving power supply 3, and the first driving power supply 3 is in signal connection with the control system 4; the control system 4 controls the first driving power source 3 to supply power to the hub propulsion motor 21.
The brake component 22 is mechanically connected with the hub propulsion motor 21; the brake assembly 22 is in signal connection with the control system 4, and the control system 4 controls the brake assembly 22 to lock the output shaft of the hub propulsion motor 21. In this embodiment, the braking system 22 is used to lock the output shaft of the motor when walking, so as to prevent the tire from rotating, and can be implemented by an electromagnetic brake or a band-type brake.
Further, the leg wheel type automobile walking mechanism further comprises a general power assembly 5, the hub propulsion motor 21 is electrically connected with the general power assembly 5, and the general power assembly 5 is in signal connection with the control system 4; the control system 4 controls whether the overall power assembly 5 supplies power to the hub propulsion motor 21.
In this embodiment, the first driving power source 3 is installed inside the vehicle body and above the frame of the vehicle, and is used for providing power for the movement of the leg-wheeled vehicle running mechanism. The power for the hub propulsion motor 21 may be provided by the overall power assembly 5 or the first drive power source 3. When the leg-folding automobile driving mode is adopted, the power supply of the first driving power supply 3 is cut off to increase the service life of the battery. When a crawling walking mode similar to an animal is adopted, the mechanical leg assembly 1 is powered by the first driving power supply 3, the mechanical leg assembly 1 is driven to move, and the brake system 22 is adopted to lock the output shaft of the hub propelling motor 21.
In addition, in the embodiment, the robot can also move on complex terrain in a manner of combining a leg wheel, namely, a hub rolling mode and a walking mode are combined, and the control system controls the posture change of the mechanical leg assembly 1. The first driving power supply 3 is provided with a storage battery, the storage battery can be charged by an automobile overall power system and an external power grid, and the power supply to the driving joint 11 is realized through a power transmission cable.
In this embodiment, the control system 4 is installed inside the automobile body, and is connected with the mechanical leg assembly 1, the wheel assembly 2 and the first driving power supply 3 at the same time, and is used for controlling the mechanical leg assembly to realize the functions thereof. The control system 4 includes a motor driver, a controller, an operation display interface, and various auxiliary I/O devices. The motor driver acts on the driving joint to enable the motor of the driving joint to realize the functions of forward rotation, reverse rotation, acceleration, deceleration, power failure locking and the like, and the controller is used for controlling the whole system to realize various preset functions. The operation display interface and various auxiliary I/O devices are positioned in the vehicle body cockpit, so that the operation and the control of a driver are facilitated, and the state parameter information is displayed through the operation display interface.
Example 2
In this embodiment, a control method for a leg-wheeled vehicle using the above-described walking mechanism of a leg-wheeled vehicle is provided, the control method including:
controlling the mechanical leg assembly 1 to be in a walking mode: firstly, the control system 4 controls the brake assembly 22 to lock the output shaft of the hub propulsion motor 21; then, the first driving power supply 3 supplies power to the mechanical leg assembly 1, the control system 4 controls the driving joint 11 to rotate, the driving joint 11 drives the connecting rod 12 to rotate, the posture change of the mechanical leg assembly 1 is realized, and the wheel assembly 2 is folded or extended relative to the automobile chassis so as to drive the automobile to walk;
when controlling the wheel rolling and the mechanical leg assembly 1 to be in the walking mode: the control system 4 controls the brake assembly 22 to unlock the output shaft of the hub propulsion motor 21; then, the first driving power supply 3 supplies power to the mechanical leg assembly 1, the control system 4 controls the driving joint 11 to rotate, and the driving joint 11 drives the connecting rod 12 to rotate, so that the posture change of the mechanical leg assembly 1 is realized; the overall power assembly 5 supplies power to the hub propulsion motor 21, and the hub propulsion motor 21 drives the wheel to rotate.
Specifically, as shown in fig. 4, fig. 4 is a schematic view of a crawling walking mode, when the vehicle moves under complex terrain conditions such as a step ground, a steep slope environment, and a damaged concrete ruin ground, the terrain adaptability of the vehicle is mainly required, the leg-wheeled vehicle walking mechanism is in the crawling walking mode, and the wheel assembly 2 composed of the wheel hub 23 and the rubber tire 24 is in a locked state, so as to play roles of supporting, buffering, and skid resistance. At this time, the braking system 22 locks the output shaft of the hub propulsion motor 21 of the wheel assembly 2, and the rubber tire 24 is in a non-rotatable state. In the walking motion process, the mechanical leg assembly is powered by the first driving power supply 3, the driving joint 11 of the mechanical leg assembly 1 is driven to rotate, the connecting rod 12 is driven to move, and the ground crawling walking of the automobile is achieved.
Of course, as shown in fig. 3, fig. 3 is a schematic view of a conventional driving mode, when a flat road surface is driven, the driving speed of the vehicle is mainly required, the leg-wheel type traveling mechanism 1 is in a retracted state, and the vehicle operates in the conventional driving mode. The mechanical leg mechanism 1 is in a folding state and is folded under the chassis, all the driving joints 11 are in a locking state, and only the wheel hub 23 and the rubber tire 24 are exposed out of the vehicle body, which is similar to a traditional automobile. At this time, the power system 3 cuts off the power supply to the mechanical leg mechanism 1, and the hub propulsion motor 21 operates under the action of the overall power assembly 5 or the first drive power source 3.
In addition, when the vehicle runs on a complicated road surface such as a rugged mountain road, a mode of combining the mechanical leg assembly 1 and the wheel assembly 2 can be adopted to realize mixed operation, so that the terrain adaptability of the vehicle can be ensured, and the running speed can be ensured. During the hybrid operation, the vehicle general power assembly 5 provides power for the wheel assembly 2, and the vehicle advances by the rotation of the wheel. However, as the driving road is rugged, the mechanical leg mechanism 1 is in a passive control terrain-adaptive state, the horizontal state of the automobile body is monitored according to the rugged degree change of the terrain, the posture change of the mechanical leg mechanism 1 is controlled, the terrain is adapted, and the horizontal state of the automobile body is realized.
The invention discloses a leg wheel type automobile walking mechanism which is used for replacing a traditional automobile wheel structure and can enable an automobile to have stronger cross-country performance. After the running mechanism is installed, the height of the chassis of the automobile can be adjusted, the wheel base and the wheel base can be adjusted, a tire rolling rapid mode can be adopted, the leg mechanism can be adopted for running and moving, and the leg mechanism can be folded to adopt a traditional driving mode. The running gear adopts an independent control system, can be combined with the original electric control system of the automobile as a sub-control system, adopts an independent module and structure, is convenient to replace and maintain, has higher independence and intelligent level, and can lead people to go to the area which can not be reached by the traditional automobile more easily by the automobile.
The invention can adjust the performance parameters of the automobile such as wheel base and wheel base, chassis height and the like, effectively improve the cross-country performance of the automobile, ensure that the automobile does not have some dangerous conditions such as rollover and the like when running on a complex terrain, ensure the safety of field running and reduce the dependence on the driving level.
When meeting the influence of an obstacle, the automobile body can be lifted up by straightening the mechanical legs, the automobile body can cross the obstacle, the mode can be applied to the condition of traffic jam and the vehicle crossing the jam, the automobile body is suitable for urban traffic, and the waiting time can be saved on the jam road section.
Claims (8)
1. A leg wheel type automobile walking mechanism is characterized by comprising a plurality of mechanical leg assemblies (1), an airplane wheel assembly (2), a first driving power supply (3) and a control system (4);
one end of the mechanical leg assembly (1) is connected with an automobile chassis, and the other end of the mechanical leg assembly is connected with the airplane wheel assembly (2); the mechanical leg assembly (1) can drive the airplane wheel assembly (2) to retract or extend relative to the automobile chassis;
the first driving power supply (3) is electrically connected with the mechanical leg assembly (1) and is used for providing power for the mechanical leg assembly (1);
the control system (4) is in signal connection with the mechanical leg assembly (1) and is used for controlling the mechanical leg assembly (1) to retract or extend relative to the automobile chassis.
2. Leg wheeled vehicle running gear according to claim 1, characterised in that the mechanical leg assembly (1) comprises a number of connecting rods (12) and a number of driving joints (11), the number of connecting rods (12) being connected by driving joints (11); the driving joint (11) drives the connecting rod (12) to rotate; one end of one connecting rod is rotatably connected with the automobile chassis, and one end of the other connecting rod is rotatably connected with the wheel assembly (2).
3. A leg wheeled vehicle running gear according to claim 2, characterised in that the mechanical leg assembly (1) further comprises a connecting shaft (13), wherein one end of one connecting rod is rotatably connected to the vehicle chassis via the connecting shaft (13).
4. Leg wheeled vehicle running gear according to claim 2, characterised in that the mechanical leg assembly (1) is further provided with a torque sensor (14) for detecting the torque experienced by the connecting rod (12).
5. Leg wheeled vehicle running gear according to claim 4, characterised in that the mechanical leg assembly (1) is further provided with a plurality of load sensors (15); the load sensors (15) are respectively positioned at the connection part of the wheel assembly (2) and the connecting rod and the connection part of the connecting rod and the automobile chassis.
6. Leg wheeled vehicle running gear according to claim 1, characterised in that the wheel assembly (2) comprises a wheel hub propulsion motor (21), a brake assembly (22), a wheel hub (23) and a tyre (24);
an output shaft of the hub propulsion motor (21) is connected with a hub (23), and a tire (24) is circumferentially arranged on the hub (23); the hub propulsion motor (21) is electrically connected with the first driving power supply (3), and the first driving power supply (3) is in signal connection with the control system (4); the control system (4) controls the first driving power supply (3) to supply power to the hub propulsion motor (21);
the brake component (22) is mechanically connected with the hub propulsion motor (21); the brake component (22) is in signal connection with the control system (4), and the control system (4) controls the brake component (22) to lock the output shaft of the hub propulsion motor (21).
7. Leg wheeled vehicle running gear according to claim 6, characterised in that it further comprises a general power assembly (5), the hub propulsion motor (21) being electrically connected to the general power assembly (5), the general power assembly (5) being in signal connection with the control system (4); the control system (4) controls the overall power assembly (5) to supply power to the hub propulsion motor (21).
8. A leg-wheeled vehicle control method using the leg-wheeled vehicle running mechanism according to any one of claims 1 to 7, characterized by comprising:
controlling the mechanical leg assembly (1) to be in a walking mode: firstly, a control system (4) controls a brake component (22) to lock an output shaft of a hub propelling motor (21); then, the first driving power supply (3) supplies power to the mechanical leg assembly (1), the control system (4) controls the driving joint (11) to rotate, the driving joint (11) drives the connecting rod (12) to rotate, the posture change of the mechanical leg assembly (1) is realized, and the wheel assembly (2) is folded or extended relative to the automobile chassis, so that the automobile is driven to walk;
when controlling the wheel rolling and the mechanical leg assembly (1) to be in a walking mode: the control system (4) controls the brake assembly (22) to unlock the output shaft of the hub propulsion motor (21); then, the first driving power supply (3) supplies power to the mechanical leg assembly (1), the control system (4) controls the driving joint (11) to rotate, and the driving joint (11) drives the connecting rod (12) to rotate, so that the posture change of the mechanical leg assembly (1) is realized; the overall power assembly (5) supplies power to the hub propulsion motor (21), and the hub propulsion motor (21) drives the wheels to rotate;
controlling the leg-wheeled vehicle to be in a wheel rolling mode: the control system (4) controls the brake assembly (22) to unlock the output shaft of the hub propulsion motor (21); the first driving power supply (3) stops supplying power to the mechanical leg assembly (1), and the mechanical leg assembly (1) is in a locking state; the general power assembly (5) supplies power to the hub propulsion motor (21), and the hub propulsion motor (21) drives the wheel to rotate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911270802.3A CN111098948A (en) | 2019-12-11 | 2019-12-11 | Leg wheel type automobile walking mechanism and control method |
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| CN201911270802.3A CN111098948A (en) | 2019-12-11 | 2019-12-11 | Leg wheel type automobile walking mechanism and control method |
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| CN112278106A (en) * | 2020-11-10 | 2021-01-29 | 北京理工大学 | Wheel-foot composite walking mechanism |
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Application publication date: 20200505 |
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