CN113184078B - Intelligent four-foot robot - Google Patents
Intelligent four-foot robot Download PDFInfo
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- CN113184078B CN113184078B CN202110637708.8A CN202110637708A CN113184078B CN 113184078 B CN113184078 B CN 113184078B CN 202110637708 A CN202110637708 A CN 202110637708A CN 113184078 B CN113184078 B CN 113184078B
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 43
- 210000002414 leg Anatomy 0.000 claims abstract description 42
- 210000000689 upper leg Anatomy 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 5
- 230000003238 somatosensory effect Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 11
- 210000001364 upper extremity Anatomy 0.000 description 6
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Toys (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an intelligent quadruped robot which comprises a trunk, hip joints, four legs, a first motor, a second motor and a third motor, wherein the four legs are symmetrically arranged along the left side and the right side of the trunk; two third motors are respectively arranged at two ends of the trunk, and each third motor is connected with one end of one hip joint; the output end of each second motor is connected with one leg; the third motor can drive the four legs to swing towards two sides through the hip joint, and the second motor can drive the four legs to swing back and forth through the hip joint; and the trunk is provided with environment sensing equipment. The robot is provided with the laser radar and the depth cameras, the laser radar and the depth cameras are used for drawing and navigation, and the SLAM technology and the machine vision technology are applied to the quadruped robot, so that the application scenes of the robot are enriched, and the robot can be used for complex scenes such as obstacle avoidance and blind guiding.
Description
Technical Field
The invention relates to the field of robot design, in particular to an intelligent quadruped robot.
Background
The electrically driven foot robot has been hot in research in recent years, and the robot body has high stability, high load and light weight, and is a hot spot for research.
Therefore, there is a need for an intelligent quadruped robot that employs SLAM technology and machine vision technology.
Disclosure of Invention
The invention aims to provide an intelligent quadruped robot, which is provided with a laser radar and a depth camera, and can realize obstacle avoidance and blind guiding by applying SLAM (synchronous positioning and mapping) technology and machine vision technology to the quadruped robot.
In order to achieve the above object, the present invention provides the following technical solutions:
An intelligent four-foot robot comprises a trunk, hip joints, four legs, a first motor, a second motor and a third motor, wherein the four legs are symmetrically arranged along the left side and the right side of the trunk; two third motors are respectively arranged at two ends of the trunk, each third motor is connected with one end of one hip joint, four second motors are respectively arranged at the inner sides of the other ends of the hip joints, four first motors are respectively arranged at the outer sides of the other ends of the hip joints, and the other end of one hip joint is connected with one second motor and one first motor; the output end of each second motor is connected with one leg; the third motor can drive the four legs to swing towards two sides through the hip joint, and the second motor can drive the four legs to swing back and forth through the hip joint; and the trunk is provided with environment sensing equipment.
Further, in the above-mentioned intelligent quadruped robot, the leg includes a thigh and a shank, one end of the hip joint is connected with the output end of the second motor, the other end of the hip joint is connected with the top end of the thigh, and the other end of the thigh is rotatably connected with the shank; preferably, the thigh is internally provided with a cavity, the upper end of the thigh is provided with a lateral opening facing the inner side, the lateral opening is used for avoiding the output end of the first motor, the output end of the first motor is enabled to penetrate deep into the cavity, the output end of the first motor is connected with one end of a crank, the other end of the crank is connected with one end of a connecting rod, the other end of the connecting rod is connected with the shank, and the shank can be driven to swing by rotating the crank by taking the other end of the thigh as an axis.
Further, in the intelligent quadruped robot, the trunk comprises an upper cover plate, a lower cover plate and two side cover plates, wherein the upper cover plate, one side cover plate, the lower cover plate and the other side cover plate are sequentially connected and form a box structure.
Further, in the intelligent quadruped robot, a front face support is covered at the front end of the trunk, and a rear cover plate is covered at the rear end of the trunk; the front face support comprises a top plate, an upper inclined plate, a lower inclined plate and a connecting plate, wherein one end of the top plate is fixed on the upper cover plate, the other end of the top plate is connected with one end of the upper inclined plate, the bottom end of the upper inclined plate is connected with the top end of the lower inclined plate, and the bottom end of the lower inclined plate is fixedly connected with the lower cover plate through the connecting plate.
Further, in the above-described intelligent quadruped robot, the upper inclined plate is inclined to the outer side of the trunk, and the lower inclined plate is inclined to the inner side of the trunk.
Further, in the above-mentioned intelligent quadruped robot, the environment sensing device includes a lidar mounted on the top plate; preferably, the lidar is mounted at the front end of the top plate.
Further, in the above-mentioned intelligent quadruped robot, the environment sensing device further includes a plurality of depth cameras, and the upper inclined plate and the lower inclined plate are respectively provided with a plurality of depth cameras.
Further, in the above-mentioned intelligent quadruped robot, a plurality of depth cameras are sequentially arranged from left to right on the upper inclined plate; the depth cameras are sequentially arranged on the lower inclined plate from left to right.
Further, in the above-mentioned intelligent quadruped robot, the environment sensing device further includes a motion sensing camera, each of the side cover plates is provided with a mounting plate, and the motion sensing camera is mounted on the mounting plate.
Further, in the above-mentioned intelligent quadruped robot, a base is provided on the top plate, and the lidar is provided on the base; the upper cover plate is provided with a handle.
The analysis shows that the intelligent quadruped robot comprises a trunk, hip joints, four legs, a first motor, a second motor and a third motor, wherein each leg has three active degrees of freedom, the whole robot has twelve active degrees of freedom, the third motor drives the four legs to do yaw motion through the hip joints, the second motor can drive the four legs to do front-back swinging motion through the hip joints, and the first motor drives the lower legs to do front-back swinging motion by taking the other ends of the thighs as axes through a crank and a connecting rod.
The robot is provided with the laser radar and the depth cameras, the laser radar and the depth cameras are used for drawing and navigation, and the SLAM technology and the machine vision technology are applied to the quadruped robot, so that the application scenes of the robot are enriched, and the robot can be used for complex scenes such as obstacle avoidance and blind guiding. The robot is also provided with a motion sensing camera, and an operator can control the robot through gestures, so that the robot is convenient to operate.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. Wherein:
fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic perspective view of an embodiment of the present invention.
Fig. 3 is a schematic bottom view of an embodiment of the present invention.
Reference numerals illustrate: 1 trunk; 11 upper cover plate; 12 lower cover plate; 13 side cover plates; 14 mounting plates; 15 handles; 2 hip joint; 3 hip joint; 4 legs; 41 thigh; 42 cavities; 43 lower leg; 44 left front leg; 45 right front legs; 46 left rear leg; 47 right rear legs; 48 crank; 49 links; 5 a first motor; 6, a second motor; a third motor; 8, a front face support; 81 top plate; 82 upper sloping plates; 83 lower sloping plates; 84 connecting plates; 9, laser radar; a 100 depth camera; a body sensing camera 101; 102 back cover plate.
Detailed Description
The invention will be described in detail below with reference to the drawings in connection with embodiments. The examples are provided by way of explanation of the invention and not limitation of the invention. Indeed, it will be apparent to those skilled in the art that modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield still a further embodiment. Accordingly, it is intended that the present invention encompass such modifications and variations as fall within the scope of the appended claims and their equivalents.
In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "coupled," "connected," and "configured" as used herein are to be construed broadly and may be, for example, fixedly connected or detachably connected; can be directly connected or indirectly connected through an intermediate component; either a wired electrical connection, a radio connection or a wireless communication signal connection, the specific meaning of which terms will be understood by those of ordinary skill in the art as the case may be.
One or more examples of the invention are illustrated in the accompanying drawings. The detailed description uses numerical and letter designations to refer to features in the drawings. Like or similar designations in the drawings and description have been used to refer to like or similar parts of the invention. As used herein, the terms "first," "second," and "third," etc. are used interchangeably to distinguish one component from another and are not intended to represent the location or importance of the individual components.
As shown in fig. 1 to 3, according to an embodiment of the present invention, there is provided an intelligent four-legged robot including a trunk 1, a hip joint 2, a hip joint 3, four legs 4, a first motor 5, a second motor 6, and a third motor 7, the four legs 4 being a left front leg 44, a right front leg 45, a left rear leg 46, and a right rear leg 47, respectively, the four legs 4 being symmetrically arranged along left and right sides of the trunk 1, the left front leg 44 and the right front leg 45 being disposed opposite sides of a front end of the trunk 1, the left rear leg 46 and the right rear leg 47 being disposed opposite sides of a rear end of the trunk 1; as shown in fig. 3, two third motors 7 are respectively installed at the front end and the rear end of the trunk 1, the axial directions of the third motors 7 are parallel to the length direction of the trunk 1, each third motor 7 is connected with one end of one hip joint 3, four second motors 6 are respectively arranged at the inner side of the other end of the hip joint 3, four first motors 5 are respectively arranged at the outer side of the other end of the hip joint 3, the other end of one hip joint 3 is connected with one second motor 6 and one first motor 5, the axial direction of the first motor 5 is perpendicular to the length direction of the trunk 1, the axial direction of the second motor 6 is perpendicular to the length direction of the trunk 1, and the axial directions of the first motors 5 and the second motors 6 are collinear; the third motor 7 can drive the four legs 4 to swing to two sides through the hip joint 3, and the second motor 6 can drive the four legs 4 to swing back and forth through the hip joint 2; the trunk 1 is provided with an environment sensing device.
Further, each leg 4 includes a thigh 41 and a shank 43, one end of the hip joint 2 is connected to the output end of the second motor 6, and the other end of the hip joint 2 is connected to the top end of the thigh 41; the other end of the thigh 41 is rotatably connected with a shank 43; preferably, the thigh 41 is internally provided with a cavity 42, the upper end of the thigh 41 is provided with a lateral opening facing the inner side, the lateral opening is used for avoiding the output end of the first motor 5, the output end of the first motor 5 is enabled to penetrate into the cavity 42, the output end of the first motor 5 is connected with one end of a crank 48, the other end of the crank 48 is connected with one end of a connecting rod 49, the other end of the connecting rod 49 is connected with the shank 43, and the shank 43 can be driven to swing by rotation of the crank 48 by taking the other end of the thigh 41 as an axis. Preferably, the thigh 41 and the shank 43 are all integrally designed, namely, the thigh is integrated with the shank, so that transmission errors can be reduced, and the structure is simple and convenient to install and disassemble.
The intelligent four-foot robot has three active degrees of freedom for each leg 4, twelve active degrees of freedom for the whole robot, a third motor 7 drives four legs 4 to do yaw motion through a hip joint 3, a second motor 6 can drive four legs 4 to do front-back swinging motion through a hip joint 2, and a first motor 5 drives a lower leg 43 to do front-back swinging motion by taking the other end of a thigh 41 as an axis through a crank 48 and a connecting rod 49.
Further, the trunk 1 comprises an upper cover plate 11, a lower cover plate 12 and two side cover plates 13, wherein the upper cover plate 11, one side cover plate 13, the lower cover plate 12 and the other side cover plate 13 are sequentially connected to form a box structure, and a space in the trunk 1 is used for placing a power supply and a control system.
Further, the front end of the trunk 1 is covered with the front face support 8, the rear end of the trunk 1 is covered with the rear cover plate 102, and the rear cover plate 102 is mainly used for covering the wiring, so that the wiring is prevented from being exposed to the outside. The front face support 8 and the back cover 102 can provide protection for the internal equipment of the torso 1; the front face support 8 comprises a top plate 81, an upper inclined plate 82, a lower inclined plate 83 and a connecting plate 84, one end of the top plate 81 is fixed on the upper cover plate 11, the other end of the top plate 81 extends to the outer side of the front end of the trunk 1, the other end of the top plate 81 is connected with one end of the upper inclined plate 82, the bottom end of the upper inclined plate 82 is connected with the top end of the lower inclined plate 83, the bottom end of the lower inclined plate 83 is fixedly connected with the lower cover plate 12 through the connecting plate 84, the connecting plate 84 is used for providing support for the front face support 8, the front face support 8 is used for installing the depth camera 100, and the depth camera 100 is convenient to detach.
Further, the upper inclined plate 82 is inclined to the outside of the trunk 1, and the lower inclined plate 83 is inclined to the inside of the trunk 1, so that the obstacle in front of the robot can be detected conveniently.
Further, the environment sensing device includes a lidar 9, the lidar 9 being mounted on the top plate 81; preferably, the lidar 9 is mounted at the front end of the top plate 81. In the running process of the intelligent quadruped robot, the position and posture information of an environment map and the robot can be obtained through acquisition and SLAM operation on point cloud data formed by the laser radar 9, meanwhile, the obstacle information in the environment can also be obtained, when the robot is detected to approach the obstacle, the robot makes corresponding actions through a control system, and the common treatment mode is deceleration, avoidance and the like, so that the obstacle avoidance function of the robot is realized.
Further, the environment sensing apparatus further includes a plurality of depth cameras 100, and the plurality of depth cameras 100 are respectively mounted on the upper inclined plate 82 and the lower inclined plate 83; preferably, the plurality of depth cameras 100 are sequentially arranged from left to right on the upper inclined plate 82, and in an embodiment of the present invention, three depth cameras 100 are sequentially arranged from left to right on the upper inclined plate 82; preferably, the plurality of depth cameras 100 are arranged in order from left to right on the lower swash plate 83, and in an embodiment of the present invention, three depth cameras 100 are arranged in order from left to right on the lower swash plate 83. The depth camera 100 is used for shooting an environment image in front of the robot, acquiring environment color information and depth information, and further facilitating a control system to position and construct a map according to the information acquired by the depth camera 100, so as to realize route planning and further realize a blind guiding function of the robot.
Further, the environment sensing device further comprises a body sensing camera 101, each side cover plate 13 is provided with a mounting plate 14, and the body sensing camera 101 is mounted on the mounting plates 14, so that the body sensing camera 101 can be conveniently detached and mounted. The motion sensing camera 101 can realize an omnibearing machine vision technology, the motion sensing camera 101 can collect gesture images of an operator and analyze the gesture images of the operator, and then the motion of the robot is controlled through a control system.
Further, a base is arranged on the top plate 81, and the laser radar 9 is arranged on the base, so that the laser radar 9 can be used for detecting the surrounding environment of the robot in an omnibearing manner; the upper cover plate 11 is provided with a handle 15, so that the robot can be conveniently moved.
Furthermore, an IMU (accelerometer and gyroscope) sensor is arranged in the trunk 1, a pressure sensor is not arranged at the foot end, and ground contact detection is realized by detecting a motor current change rule, and if motor current (moment) is suddenly changed, the robot is in a supporting phase, so that the ground contact detection of the robot can be realized. The foundation is laid for robot force and moment control by combining IMU data with foot end ground contact state.
From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:
An intelligent four-foot robot comprises a trunk 1, a hip joint 2, a hip joint 3, four legs 4, a first motor 5, a second motor 6 and a third motor 7, wherein each leg 4 has three active degrees of freedom, the whole robot has twelve active degrees of freedom, the third motor 7 drives the four legs 4 to do yaw motion through the hip joint 3, the second motor 6 can drive the four legs 4 to do back-and-forth swinging motion through the hip joint 2, and the first motor 5 drives the lower leg 43 to do back-and-forth swinging motion by taking the other end of the thigh 41 as an axis through a crank 48 and a connecting rod 49.
The robot is provided with the laser radar 9 and the depth cameras 100, the laser radar 9 and the depth cameras 100 are used for drawing and navigation, and the SLAM technology and the machine vision technology are applied to the quadruped robot, so that the application scenes of the robot are enriched, and the robot can be used for complex scenes such as obstacle avoidance and blind guiding. The robot is also provided with the somatosensory camera 101, so that an operator can control the robot through gestures, and the robot is convenient to operate.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An intelligent quadruped robot is characterized by comprising a trunk, hip joints, four legs, a first motor, a second motor and a third motor, wherein the four legs are symmetrically arranged along the left side and the right side of the trunk;
Two third motors are respectively arranged at two ends of the trunk, each third motor is connected with one end of one hip joint, four second motors are respectively arranged at the inner sides of the other ends of the hip joints, four first motors are respectively arranged at the outer sides of the other ends of the hip joints, and the other end of one hip joint is connected with one second motor and one first motor;
The output end of each second motor is connected with one leg;
The third motor can drive the four legs to swing towards two sides through the hip joint, and the second motor can drive the four legs to swing back and forth through the hip joint;
the trunk is provided with an environment sensing device,
The leg comprises a thigh and a shank, one end of the hip joint is connected with the output end of the second motor, the other end of the hip joint is connected with the top end of the thigh, and the other end of the thigh is rotationally connected with the shank;
The thigh is internally provided with a cavity, the upper end of the thigh is provided with a lateral opening facing the inner side, the lateral opening is used for avoiding the output end of the first motor, the output end of the first motor penetrates into the cavity, the output end of the first motor is connected with one end of a crank, the other end of the crank is connected with one end of a connecting rod, the other end of the connecting rod is connected with the shank, the shank can be driven to swing by the rotation of the crank by taking the other end of the thigh as an axis,
The trunk comprises an upper cover plate, a lower cover plate and two side cover plates, wherein the upper cover plate, one side cover plate, the lower cover plate and the other side cover plate are sequentially connected to form a box body structure,
The front end of the trunk is covered with a front face support, and the rear end of the trunk is covered with a rear cover plate;
the front face support comprises a top plate, an upper sloping plate, a lower sloping plate and a connecting plate, one end of the top plate is fixed on the upper cover plate, the other end of the top plate is connected with one end of the upper sloping plate, the bottom end of the upper sloping plate is connected with the top end of the lower sloping plate, the bottom end of the lower sloping plate is fixedly connected with the lower cover plate through the connecting plate,
The environment sensing device comprises a laser radar, the laser radar is arranged on the top plate,
The environment sensing equipment also comprises a plurality of depth cameras, a plurality of depth cameras are respectively arranged on the upper sloping plate and the lower sloping plate,
The environment sensing equipment further comprises a somatosensory camera, each side cover plate is provided with a mounting plate, and the somatosensory camera is mounted on the mounting plate.
2. The intelligent quadruped robot of claim 1, it is characterized in that the method comprises the steps of,
The upper sloping plate is inclined to the outer side of the trunk, and the lower sloping plate is inclined to the inner side of the trunk.
3. The intelligent quadruped robot of claim 1, it is characterized in that the method comprises the steps of,
The laser radar is arranged at the front end of the top plate.
4. The intelligent quadruped robot of claim 1, it is characterized in that the method comprises the steps of,
The depth cameras are sequentially arranged on the upper inclined plate from left to right;
the depth cameras are sequentially arranged on the lower inclined plate from left to right.
5. The intelligent quadruped robot of claim 3, it is characterized in that the method comprises the steps of,
The top plate is provided with a base, and the laser radar is arranged on the base;
the upper cover plate is provided with a handle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110637708.8A CN113184078B (en) | 2021-06-08 | 2021-06-08 | Intelligent four-foot robot |
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| CN202110637708.8A CN113184078B (en) | 2021-06-08 | 2021-06-08 | Intelligent four-foot robot |
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| CN113184078B true CN113184078B (en) | 2024-08-16 |
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| CN113460185A (en) * | 2021-08-05 | 2021-10-01 | 北京理工大学 | Wheel-leg type vehicle ground contact detection device and method |
| CN114310963B (en) * | 2022-01-18 | 2024-02-13 | 上海交通大学 | Skiing multi-legged robot |
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| CN215322949U (en) * | 2021-06-08 | 2021-12-28 | 中电科机器人有限公司 | Intelligent quadruped robot |
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| KR101298088B1 (en) * | 2011-11-17 | 2013-08-22 | 재단법인대구경북과학기술원 | Multi-legged Subminiature Robot Using 2DOF Piezo-legs |
| KR101466719B1 (en) * | 2012-08-09 | 2014-12-02 | 성균관대학교산학협력단 | Gear connection mechanism of walking robot, and driving force transfer mechanism of walking robot, and two degree-of-freedom mechanism of walking robot, and biomimetic walking robot having kinetic waling funciton of the same mechanism |
| CN108927796B (en) * | 2018-06-07 | 2023-04-21 | 长安大学 | Four-foot bionic robot platform based on biological characteristics |
| CN109159830A (en) * | 2018-10-24 | 2019-01-08 | 天津木牛流马科技发展股份有限公司 | A kind of wheel leg convolution robot |
| CN111958605A (en) * | 2020-09-01 | 2020-11-20 | 深圳市多够机器人技术有限公司 | All-weather autonomous intelligent quadruped robot |
| CN112623063A (en) * | 2021-01-15 | 2021-04-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Lightweight microminiature quadruped robot |
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| CN215322949U (en) * | 2021-06-08 | 2021-12-28 | 中电科机器人有限公司 | Intelligent quadruped robot |
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