CN113696993B - 一种足端轨迹可变的组装式多足机器人和控制方法 - Google Patents
一种足端轨迹可变的组装式多足机器人和控制方法 Download PDFInfo
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- CN113696993B CN113696993B CN202111004511.7A CN202111004511A CN113696993B CN 113696993 B CN113696993 B CN 113696993B CN 202111004511 A CN202111004511 A CN 202111004511A CN 113696993 B CN113696993 B CN 113696993B
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- legged robot
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 239000000178 monomer Substances 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 239000000696 magnetic material Substances 0.000 claims description 5
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- 238000004364 calculation method Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 abstract description 2
- 241000282414 Homo sapiens Species 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
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- 239000011664 nicotinic acid Substances 0.000 description 2
- 241000258920 Chilopoda Species 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
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- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process 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
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
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Abstract
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CN202111004511.7A CN113696993B (zh) | 2021-08-30 | 2021-08-30 | 一种足端轨迹可变的组装式多足机器人和控制方法 |
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CN202111004511.7A CN113696993B (zh) | 2021-08-30 | 2021-08-30 | 一种足端轨迹可变的组装式多足机器人和控制方法 |
Publications (2)
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CN113696993A CN113696993A (zh) | 2021-11-26 |
CN113696993B true CN113696993B (zh) | 2022-06-17 |
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CN202111004511.7A Active CN113696993B (zh) | 2021-08-30 | 2021-08-30 | 一种足端轨迹可变的组装式多足机器人和控制方法 |
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Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN114889724B (zh) * | 2022-05-18 | 2023-08-25 | 湘潭大学 | 一种基于多连杆的仿蜈蚣机器人 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6478314B1 (en) * | 1998-02-11 | 2002-11-12 | Joseph C. Klann | Walking device |
KR20100100119A (ko) * | 2009-03-05 | 2010-09-15 | 이승철 | 8족 보행로봇 |
CN106904226A (zh) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | 一种电驱动四足机器人的腿部动力***结构 |
US10105845B1 (en) * | 2016-02-05 | 2018-10-23 | Boston Dynamics, Inc. | Modular robot system |
CN110077486A (zh) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | 一种仿生八足特种机器人 |
CN110450880A (zh) * | 2019-07-23 | 2019-11-15 | 北京交通大学 | 一种可调足端轨迹八足机器人 |
CN209739207U (zh) * | 2019-04-05 | 2019-12-06 | 吕梁学院 | 一种六杆机构多足机器人 |
CN112810720A (zh) * | 2021-01-08 | 2021-05-18 | 清华大学 | 一种基于曲柄摇杆的轮足式四足机器人 |
-
2021
- 2021-08-30 CN CN202111004511.7A patent/CN113696993B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6478314B1 (en) * | 1998-02-11 | 2002-11-12 | Joseph C. Klann | Walking device |
KR20100100119A (ko) * | 2009-03-05 | 2010-09-15 | 이승철 | 8족 보행로봇 |
US10105845B1 (en) * | 2016-02-05 | 2018-10-23 | Boston Dynamics, Inc. | Modular robot system |
CN106904226A (zh) * | 2017-03-10 | 2017-06-30 | 杭州宇树科技有限公司 | 一种电驱动四足机器人的腿部动力***结构 |
CN209739207U (zh) * | 2019-04-05 | 2019-12-06 | 吕梁学院 | 一种六杆机构多足机器人 |
CN110077486A (zh) * | 2019-05-15 | 2019-08-02 | 河海大学常州校区 | 一种仿生八足特种机器人 |
CN110450880A (zh) * | 2019-07-23 | 2019-11-15 | 北京交通大学 | 一种可调足端轨迹八足机器人 |
CN112810720A (zh) * | 2021-01-08 | 2021-05-18 | 清华大学 | 一种基于曲柄摇杆的轮足式四足机器人 |
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Inventor after: Wang Yue Inventor after: Xiang Pingyu Inventor after: Chen Ci Inventor after: Lu Haojian Inventor after: Xiong Rong Inventor before: Xiang Pingyu Inventor before: Wang Yue Inventor before: Chen Ci Inventor before: Lu Haojian Inventor before: Xiong Rong |
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Effective date of registration: 20240624 Address after: Building 5, 5th Floor, No. 309 Liuhe Road, Binjiang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Supcon Group Co.,Ltd. Country or region after: China Address before: 310058 Yuhang Tang Road, Xihu District, Hangzhou, Zhejiang 866 Patentee before: ZHEJIANG University Country or region before: China |
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