CN104443095A - Double-11 walking frame of wall climbing robot - Google Patents
Double-11 walking frame of wall climbing robot Download PDFInfo
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- CN104443095A CN104443095A CN201410618017.3A CN201410618017A CN104443095A CN 104443095 A CN104443095 A CN 104443095A CN 201410618017 A CN201410618017 A CN 201410618017A CN 104443095 A CN104443095 A CN 104443095A
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention provides a double-11 walking frame of a wall climbing robot. Suction moving mechanisms are arranged on the two sides of a body of the robot. The suction moving mechanisms are used for completing forward and backward movement, leftward and rightward movement and slanting movement of the robot. When the suction moving mechanisms are of a straight-column single-row structure, the suction moving mechanisms are composed of N suction monomers, and odd-number groups of suction monomers and even-number groups of suction monomers are arranged alternately. When the suction moving mechanism are of a straight-column double-row structure, the suction monomers in the first row are controlled by a first movement drive control mechanism unit, the suction monomers in the second row are controlled by a second movement drive control mechanism unit, and the number of the suction monomers in the two rows is equal. The double-11 walking frame of the wall climbing robot integrates the advantages of a frame of an existing wall climbing robot, can suck surfaces made of various materials, walk on the surfaces and conduct flexible turning on the condition that various suction monomers are used flexibly, and effectively increases the surface area between the robot and a sucked object.
Description
Technical field
The invention belongs to robot ambulation structure and control technology field, the two 11 walking frameworks of especially a kind of Climbing Robot.
Background technology
Current Climbing Robot walking structure mode is mainly divided into wheeled, crawler type or composite crawler formula roller, class foot formula or class podarthrum reptile fashion, cross framework or class cross framework slip walking manner.Wherein wheeled construction adopts magnetic adsorption type, and its kinematic velocity is fast, turns to flexibly, but requires to be had magnetic suck and planarity by absorption walking surface, its comformability and all weak across barrier ability.Crawler type or composite crawler formula adopt the multiple suction types such as magnetic, vacuum or negative pressure, its stable movement, and area of contact is large, and load carrying ability is large, stronger across barrier ability; But turn to flexibility ratio poor, control and structure more complicated, require to walk in plane.Class is seemingly sufficient or class podarthrum formula is comparatively strong across barrier ability, stable gravity center, and walking turns to flexible, but it is comparatively slow to take action, and control and complex structure, load is less.Cross framework or the walking of class cross framework turn to flexibly, structure and control simple, stable gravity center.But the speed of travel is slow, weak across barrier, load is less, and plane is walked.
Summary of the invention
For above-mentioned technological deficiency, the invention provides the two 11 walking frameworks of a kind of Climbing Robot.Below the presser feet that this framework thinking derives from the promotion cloth movement of sewing machine, two rows or four rafting carry-over bar, as the thinking of cross framework derives from cross bar.
The first technical scheme that technical solution problem of the present invention is taked is: machine human body both sides are provided with absorption kinematic mechanism, and absorption kinematic mechanism completes all around, the oblique movement of robot.
Described absorption kinematic mechanism is single row configuration in upright arrangement, be made up of multiple absorption monomer, formation odd number group and even number set are spaced, and the absorption monomer in odd number group is controlled by the first motion drived control mechanism unit, and the absorption monomer in even number set is controlled by the second motion drived control mechanism unit.
Before and after robot during dynamic fortune: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body.
When robot left and right moving is transported: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body.
When the oblique dynamic fortune of robot: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body.
Furtherly, the first described motion drived control mechanism unit is identical with the second motion drived control mechanism unit structure, comprise absorption monomer back-up block, controlled lifting bar and gliding mass, wherein adsorb on monomer back-up block and multiple absorption monomer is housed, between gliding mass and absorption monomer back-up block, be provided with controlled lifting bar.
Furtherly, the collapsing length adsorbing monomer is adjustable.
The second technical scheme that technical solution problem of the present invention is taked is: machine human body both sides are provided with absorption kinematic mechanism, and absorption kinematic mechanism completes all around, the oblique movement of robot.
Described absorption kinematic mechanism is two-row structure in upright arrangement, and the absorption monomer in first row is controlled by the first motion drived control mechanism unit, and the absorption monomer in second row is controlled by the second motion drived control mechanism unit.
Before and after robot during dynamic fortune: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body.
When robot left and right moving is transported: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body.
When the oblique dynamic fortune of robot: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body.
Furtherly, the first described motion drived control mechanism unit is identical with the second motion drived control mechanism unit structure, comprise absorption monomer back-up block, controlled lifting bar and gliding mass, wherein adsorb on monomer back-up block and multiple absorption monomer is housed, between gliding mass and absorption monomer back-up block, be provided with controlled lifting bar.
Furtherly, the collapsing length adsorbing monomer is adjustable.
Beneficial effect of the present invention is: the framework advantage that present invention incorporates existing Climbing Robot, when applying in a flexible way various Adsorbing matter, the adsorption walking of various material can be completed and turn to flexibly, heavy remaining design Adsorbing matter mechanism, the area of contact of robot Adsorbing matter and absorbate can be increase effectively, robot is allowed to increase load, completing robot at the complex-curved walking function of the absorption of body surface in conjunction with slide block type Adsorbing matter mechanism, more completing complex-curved walking function with mobile across hindering.Adsorbing matter can not resemble wheeled or crawler type and do rotary movement, and when being allowed to condition at vacuum and negative-pressure adsorption, distribution is simpler, and effectively reduces the wearing and tearing of Adsorbing matter.
Accompanying drawing explanation
Fig. 1 is the two 11 walking basic frameworks of robot.
Fig. 2 is schematic diagram of walking before and after the two 11 walking basic frameworks of robot.
Fig. 3 is that the two 11 walking basic framework left and right rows of robot are walked to move right schematic diagram.
Fig. 4 is a kind of structural representation of single Adsorbing matter mechanism, the absorption monomer columns N=16 in single Adsorbing matter mechanism.
Fig. 5 is the two 11 walking frameworks of a kind, often increases by two row Adsorbing matter mechanisms and increases a dynamic drived control mechanism unit.Row is even numbers, row >=4.
Fig. 6 is the two 11 walking frameworks of a kind, and odd number group is a dynamic drived control mechanism unit, and even number set is a dynamic drived control mechanism unit, has distance and the space of movement between odd number group and even number set.
Fig. 7 is the two 11 walking framework sway schematic diagrams of Fig. 6 class.
Fig. 8 is a kind of structural representation of single adsorbing mechanism.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
The two 11 walking basic frameworks of Climbing Robot in the present invention, (as Fig. 1) forms the basic framework of two 11 robots absorption walkings by the approximately parallel adsorbing mechanism 1,2,3,4 of four rows.Four row's adsorbing mechanisms divide and are listed in robot body two side, every Ce Youerpai Adsorbing matter mechanism (as Fig. 4,6 >=2 of Adsorbing matter mechanism), and four row's Adsorbing matters and machine human body keep less parallel.From backplan, resemble two 11.The single Adsorbing matter quantity of often arranging of four row's adsorbing mechanisms can be equal.
The mode of motion of two 11 frameworks of Climbing Robot and control method: adsorbing mechanism 1,3 adopts the first motion drived control mechanism unit.Adsorbing mechanism 2,4 adopts the second motion drived control mechanism unit.The power of actuation movement can be cylinder or Driven by Hydraulic Cylinder, also can be that other power such as driven by motor mechanical type drives.Completed the lifting of robot adsorbing mechanism by control unit, absorption, solve absorption, the action control such as all around, oblique movement, reaches robot and walks in the absorption of body surface.
Before and after robot during dynamic fortune, as Fig. 2: adsorbing mechanism 1, 3 keep being adsorbed on body surface, adsorbing mechanism 2, 4 remove adsorption affinity leaves body surface, under the drived control of the second motion drived control mechanism unit, opposed robots's body moves forwards or backwards, after moving to a position, adsorbing mechanism 2, 4 under the drived control of the second motion drived control mechanism unit, the adsorbing mechanism 2 fallen, 4 to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, originally adsorb adsorbing mechanism 1, 3 under the control of the first motion drived control mechanism unit, remove adsorption affinity, lifting, and along adsorbing mechanism 2, the direction of the motion after 4 liftings moves forwards or backwards.Just fallen and be applied with the adsorbing mechanism 2,4 of adsorption affinity, under the drived control of the second motion drived control mechanism unit, along the direction of arrow with rise after the direction reverse motions of moving, and drive robot body to move to command range.In this process, adsorbing mechanism 1,3 runs to the aerial parallel position of decline adsorbing mechanism 2,4 after lifting, and falls Adsorbing matter mechanism to body surface contact, starts to apply adsorption affinity.Control and so forth and motion, the continuous print completing robot is walked forward or backward.
When robot left and right moving is transported, as the Fig. 3: the first motion drived control mechanism unit and the second motion drived control mechanism unit first detect the space of Adsorbing matter mechanism with or without sway.Adsorbing matter mechanism without mobile space falls and is adsorbed on body surface.As Fig. 3, if when moving right, the second motion drived control mechanism unit surveys inspection has mobile space to adsorbing mechanism 2,4, and adsorbing mechanism 1,3 now, under the control of the first motion drived control mechanism unit, is adsorbed on body surface.Adsorbing mechanism 2, 4 under the drived control of the second motion drived control mechanism unit, remove adsorption affinity lifting and move in the direction of the arrow, stop after moving to a fixed position, and under the drived control of the second motion drived control mechanism unit, fall Adsorbing matter mechanism and be adsorbed on body surface, now originally be adsorbed on the adsorbing mechanism 1 of body surface, 3, under the control of the first motion drived control mechanism unit, remove adsorption affinity lifting along adsorbing mechanism 2, 4 directions are moved, stop after moving to a fixed position and fall Adsorbing matter mechanism absorbent bodies surface.Controlled motion and so forth, and with the sway of mobile robot body at body surface.
When robot oblique movement: oblique movement, adsorbing mechanism 1,3 is in the first motion drived control mechanism unit motion control, adsorbing mechanism 2,4 is under the second motion drived control mechanism unit motion control, forward or move right and move to the left or to the right, to complete the oblique movement of machine human body simultaneously.Control and mode of motion the same with motion control all around.
Described robot, when body surface moves, has one group of motion drived control mechanism unit to control Adsorbing matter mechanism all the time and is adsorbed on body surface.
The first described motion drived control mechanism is identical with the second motion drived control mechanism structure, and controlled motion action is also identical, comprises absorption monomer back-up block, controlled lifting bar and gliding mass.
The collapsing length of absorption monomer is adjustable, completes robot at the complex-curved walking function of the absorption of body surface, more can complete complex-curved walking function with mobile across hindering.
The present invention is that both sides or outer both sides are provided with absorption kinematic mechanism in machine human body, utilizes absorption kinematic mechanism to complete all around, the oblique movement of robot.
As shown in Figure 6, when absorption kinematic mechanism is single row configuration in upright arrangement, be made up of 4 groups of Adsorbing matters, formation odd number group and even number set are spaced, absorption monomer in odd number group is controlled by the first motion drived control mechanism unit, absorption monomer in even number set is controlled by the second motion drived control mechanism unit, and the absorption monomer in odd number group is N number of, and the absorption monomer in even number set is also N number of.
Before and after robot during dynamic fortune: the absorption monomer of odd number group (from top to bottom first group, the 3rd group) keeps being adsorbed on body surface, the absorption monomer of even number set (from top to bottom second group, the 4th group) leaves body surface, opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting.Just fallen and be applied with the absorption monomer of adsorption affinity, along horizontal direction with rise after the direction reverse motions of moving, and drive the movement of robot body.
When robot left and right moving is transported: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting.Just fallen and be applied with the absorption monomer of adsorption affinity, along horizontal direction with rise after the direction reverse motions of moving, and drive the movement of robot body, see Fig. 7.
When the oblique dynamic fortune of robot: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting.Just fall and be applied with the absorption monomer of adsorption affinity, along horizontal direction or the direction reverse motions of moving after rising, and having driven the movement of robot body.
As depicted in figs. 1 and 2, when absorption kinematic mechanism is two-row structure in upright arrangement, absorption monomer in first row is controlled by the first motion drived control mechanism, and the absorption monomer in second row is controlled by the second motion drived control mechanism, and the absorption monomer number in two rows can be identical;
Before and after robot during dynamic fortune: the absorption monomer 1 of the first row in left side keeps being adsorbed on body surface, the absorption monomer 2 of second row leaves body surface, (the absorption monomer 3 of the first row on right side keeps being adsorbed on body surface, the absorption monomer 4 of second row leaves body surface) opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting.Just fallen and be applied with the absorption monomer of adsorption affinity, along horizontal direction with rise after the direction reverse motions of moving, and drive the movement of robot body 5.
When robot left and right moving is transported: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting.Just fallen and be applied with the absorption monomer of adsorption affinity, along horizontal direction with rise after the direction reverse motions of moving, and drive the movement of robot body, see Fig. 3.
When the oblique dynamic fortune of robot: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting.Just fall and be applied with the absorption monomer of adsorption affinity, along horizontal direction or the direction reverse motions of moving after rising, and having driven the movement of robot body.
Can have multiple sucker in absorption monomer in the present embodiment, have employed 16 suckers 6 in Fig. 4, certainly, according to the pattern that above-mentioned array is single and array is double, it can amplify out the structures of three rows in upright arrangement, and its stability is stronger, see Fig. 5.
See Fig. 8, first motion drived control mechanism unit is identical with the second motion drived control mechanism unit structure, comprise absorption monomer back-up block 8, controlled lifting bar 9 and gliding mass 10, wherein adsorb on monomer back-up block and multiple absorption monomer 7 is housed, between gliding mass and absorption monomer back-up block, be provided with controlled lifting bar.
The collapsing length of the absorption monomer in the present embodiment is adjustable, has carried out robot at complex-curved body surface absorption walking function.
The invention provides a kind of absorption walking framework-bis-11 frameworks completely newly, this framework is having the advantage of cross framework concurrently: walking turns to flexibly, structure and control are simply, when stable gravity center, have again the advantage of crawler type framework concurrently: stable movement, area of contact load capacity is large, adsorption design more than sinking, across advantages such as barrier ability are stronger.This framework both can solve the load of Climbing Robot, across the more weak problem of barrier ability, allowed again machine tool people adsorb and controlled more simple and practical.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, without departing from the inventive concept of the premise; can also make some improvements and modifications, these improvements and modifications also should be considered as in scope.
Claims (6)
1. the two 11 walking frameworks of Climbing Robot, is characterized in that:
Machine human body both sides are provided with absorption kinematic mechanism, and absorption kinematic mechanism completes all around, the oblique movement of robot;
Described absorption kinematic mechanism is single row configuration in upright arrangement, be made up of multiple absorption monomer, formation odd number group and even number set are spaced, and the absorption monomer in odd number group is controlled by the first motion drived control mechanism unit, and the absorption monomer in even number set is controlled by the second motion drived control mechanism unit;
Before and after robot during dynamic fortune: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body;
When robot left and right moving is transported: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body;
When the oblique dynamic fortune of robot: the absorption monomer of odd number group keeps being adsorbed on body surface, the absorption monomer of even number set leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the even number set of originally adsorbing removes adsorption affinity, and lifting drives the movement of robot body.
2. the two 11 walking frameworks of a kind of Climbing Robot according to claim 1, it is characterized in that: the first described motion drived control mechanism unit is identical with the second motion drived control mechanism unit structure, comprise absorption monomer back-up block, controlled lifting bar and gliding mass, wherein adsorb on monomer back-up block and multiple absorption monomer is housed, between gliding mass and absorption monomer back-up block, be provided with controlled lifting bar.
3. the Climbing Robot control method of a kind of two 11 structure motions according to claim 2, is characterized in that: the collapsing length of absorption monomer is adjustable.
4. the two 11 walking frameworks of Climbing Robot, it is characterized in that: machine human body both sides are provided with absorption kinematic mechanism, absorption kinematic mechanism completes all around, the oblique movement of robot;
Described absorption kinematic mechanism is two-row structure in upright arrangement, and the absorption monomer in first row is controlled by the first motion drived control mechanism unit, and the absorption monomer in second row is controlled by the second motion drived control mechanism unit;
Before and after robot during dynamic fortune: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body moves forwards or backwards, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body;
When robot left and right moving is transported: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body does and moves to the left or to the right, fall absorption monomer after moving to a position to contact to body surface, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body;
When the oblique dynamic fortune of robot: the absorption monomer of first row keeps being adsorbed on body surface, the absorption monomer of second row leaves body surface, opposed robots's body is doing in motion forward or backward, also do horizontal motion to the left or to the right simultaneously, fall absorption monomer after moving to a position to body surface contact, and start to apply adsorption affinity, after applying adsorption affinity, the absorption monomer of the first row originally adsorbed removes adsorption affinity, and lifting drives the movement of robot body.
5. the two 11 walking frameworks of a kind of Climbing Robot according to claim 4, it is characterized in that: the first described motion drived control mechanism unit is identical with the second motion drived control mechanism unit structure, comprise absorption monomer back-up block, controlled lifting bar and gliding mass, wherein adsorb on monomer back-up block and multiple absorption monomer is housed, between gliding mass and absorption monomer back-up block, be provided with controlled lifting bar.
6. the Climbing Robot control method of a kind of two 11 structure motions according to claim 5, is characterized in that: the collapsing length of absorption monomer is adjustable.
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| CN201410618017.3A CN104443095A (en) | 2014-11-05 | 2014-11-05 | Double-11 walking frame of wall climbing robot |
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| CN201410618017.3A CN104443095A (en) | 2014-11-05 | 2014-11-05 | Double-11 walking frame of wall climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107345938A (en) * | 2017-06-26 | 2017-11-14 | 中国计量大学 | A kind of building masonry wall walking non-destructive detection device |
| CN112114586A (en) * | 2020-08-31 | 2020-12-22 | 苏州康鸿智能装备股份有限公司 | Follow-up walking control method of adsorption type walking device |
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| CN103612684A (en) * | 2013-12-05 | 2014-03-05 | 燕山大学 | Three-plane-branch six-degree-of-freedom parallel wall-climbing robot |
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| US4674949A (en) * | 1982-01-11 | 1987-06-23 | International Robotic Engineering, Inc. | Robot with climbing feet |
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| CN112114586A (en) * | 2020-08-31 | 2020-12-22 | 苏州康鸿智能装备股份有限公司 | Follow-up walking control method of adsorption type walking device |
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Application publication date: 20150325 |