CN105905187A - Bionic regular-hexagon hexapod robot - Google Patents
Bionic regular-hexagon hexapod robot Download PDFInfo
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- CN105905187A CN105905187A CN201610458218.0A CN201610458218A CN105905187A CN 105905187 A CN105905187 A CN 105905187A CN 201610458218 A CN201610458218 A CN 201610458218A CN 105905187 A CN105905187 A CN 105905187A
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- 241000238631 Hexapoda Species 0.000 title claims abstract description 19
- 239000011664 nicotinic acid Substances 0.000 title abstract 2
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 239000002131 composite material Substances 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000008602 contraction Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 14
- 238000001514 detection method Methods 0.000 abstract description 3
- 230000009471 action Effects 0.000 abstract description 2
- 230000001788 irregular Effects 0.000 description 5
- 210000003141 lower extremity Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000032258 transport 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
- 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
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明提供一种仿生正六边形六足机器人，属于行走机器人技术领域。该机器人包括正六边形机身、行走机构和控制行走机构的闭环控制系统，行走机构为正六边形机架，包括三对机械足，每支机械足包括复合旋转臂、短臂、长臂和用于驱动所述机械足在水平方向上旋转的水平调节组件，水平调节组件在水平范围内旋转，驱动机器人前进和后退；通过短臂在竖直范围内转动，做到机械足的上升和下降；通过长臂在竖直范围内转动，驱动机械足在水平范围内做伸展运动；六个机械足的相互运动组成运动机构来驱动机器人实现各种动作。该机器人对地形适应能力强，可应用于危险地带的探测，也能应用于航空航天、未知星球勘测环境。
The invention provides a bionic regular hexagonal hexapod robot, which belongs to the technical field of walking robots. The robot includes a regular hexagonal body, a walking mechanism and a closed-loop control system for controlling the walking mechanism. The horizontal adjustment assembly used to drive the mechanical foot to rotate in the horizontal direction. The horizontal adjustment assembly rotates within the horizontal range to drive the robot forward and backward; the short arm rotates within the vertical range to achieve the rise and fall of the mechanical foot ; Through the rotation of the long arm in the vertical range, the mechanical feet are driven to perform stretching motions in the horizontal range; the mutual movement of the six mechanical feet forms a kinematic mechanism to drive the robot to achieve various actions. The robot has a strong ability to adapt to the terrain, and can be applied to the detection of dangerous areas, as well as aerospace and unknown planet survey environments.
Description
Technical field
The present invention relates to walking robot technical field, particularly relate to a kind of bionical regular hexagon six
Biped robot.
Background technology
The conception of pedipulator is mainly based upon the rough topography variation of nature, bionical walking
Robot is the forms of motion imitating animal, uses lower limb formula structure to complete various locomotive function
Robot.Have been obtained for widely should with caterpillar type robot although wheeled in mobile robot
With, but the requirement of walking robot road pavement is the lowest, the foot of robot had a large amount of from
The motion that can be made robot by degree is more flexible, rough landform is adapted to ability higher；
The foothold of walking legged type robot is discrete, with the contact area on ground is the least, and Ke Yi
The optimum strong point is selected on accessible ground, even if in the case of surface is the most irregular,
By the strict strong point selecting foot, it is also possible to walking is freely；Can apply to danger zone
Detection, or the place that the mankind can not arrive, can also apply to Aero-Space, unknown celestial body
Exploration environment.
At present, common walking robot has the application of two-legged type, all fours type more, and therein two
Foot formula is less relative to six foot formula leg numbers with all fours type, and leg joint freedom degrees is less, transports to
Underaction, dynamic stability is poor.The irregular Hexapod Robot body structure unshapeliness of part,
Cause walking instability during advancing, be susceptible to rollover.And most of existing row
Robot walking walking step state is fixing, the pass of body when so walking on rugged and rough steady road surface
Joint will be severely affected power, it is possible to damages joint and drives element.
Owing to lower limb structure designs, the load capacity of major part walking robot is poor.
The control system of major part four feet walking robot is nonlinear multi input and multi output
Time-dependent system, has time variation and interval dynamic.The walking movement of quadruped robot at present
Great majority are geometric position based on gait trajectory planning, the planning of joint position control and control
Strategy.And robot is carried out the planning of simple geometric position and controls, then can due to inertia,
The factors such as strength of one's legs is unbalance and cause robot unstability.
And the existing legged robot of major part uses centerized fusion, i.e. robot
All control to be completed by a microcomputer, may process not in complex road surface walking process
In time.By the state machine that is made up of logic circuit of joint control, the therefore row of robot
For being restricted, fixing forms of motion can only be presented.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of bionical regular hexagon Hexapod Robot,
This robot includes the closed loop control system of regular hexagon fuselage, walking mechanism and control walking mechanism
System, walking mechanism is regular hexagon frame, including three to machinery foot, wherein, every machinery foot
Including composite rotating arm, galianconism, long-armed and for driving machinery foot to rotate in the horizontal direction
Horizontal adjustment assembly, composite rotating arm is arranged on regular hexagon fuselage by horizontal adjustment assembly,
One end of galianconism is flexibly connected with composite rotating arm by the first vertical adjusting part, galianconism another
One end is flexibly connected with long-armed one end by the second vertical adjusting part, same on composite rotating arm
Time steering wheel one and steering wheel two, long-armed upper installation steering wheel three are installed, the lower plate of composite rotating arm fills
Having miniature bearing, composite rotating arm is by under miniature bearing and regular hexagon fuselage
Base plate connects.
Wherein, closed-loop control system include pc machine, MCS 51 single-chip microcomputer, steering engine controller,
Steering wheel one, steering wheel two, steering wheel three, micro radio transmission camera and pressure transducer, pc
Machine connects MCS 51 single-chip microcomputer being loaded on regular hexagon fuselage, and MCS 51 single-chip microcomputer is even
Connecing steering engine controller, steering engine controller controls steering wheel one, steering wheel two and steering wheel three, pressure sensing
Device connects MCS 51 single-chip microcomputer, and photographic head connects MCS 51 single-chip microcomputer.Micro radio
Transmission camera is arranged on regular hexagon fuselage, and described pressure transducer is arranged on long-armed.
Steering wheel one and steering wheel two are installed, by upper and lower two thin plates clamping steering wheel one on composite rotating arm
With steering wheel two, steering wheel one is vertically placed, and is connected with regular hexagon fuselage by horizontal adjustment assembly；
Steering wheel two horizontal positioned, is connected with galianconism by the first vertical adjusting part.
This robot leg has multiple degree of freedom, makes the motility of motion be greatly enhanced.It can
Body levels is kept, it is also possible to adjusted by the extension degree of regulation lower limb with the length by regulation lower limb
Gravity centre position, is therefore difficult to translate into, and stability is higher.
This robot has six miniature bearings, is contained in the connecting portion of leg and fuselage,
Fixed plate so can be used to make leg fixedly secure between fuselage upper and lower bottom plate, considerably increase
The load capacity of robot, expands the range of robot, compensate for major part robot
The shortcoming of load capacity difference.
This bionical regular hexagon Hexapod Robot uses dispersion (level) formula and controls, and i.e. uses
The control of robot shared by multiple stage microcomputer, as when using upper and lower two-level microcomputer jointly to complete machine
During the control of device people, main frame is usually used in being responsible for the management of system, communication, kinesiology and kinetics
Calculate, and send command information to subordinate's microcomputer；As subordinate from machine, carry out interpolation operation and
SERVO CONTROL processes, it is achieved given motion, and to main frame feedback information.
The buffer unit of leg mechanism is requisite, and its leg joint is similar to animal leg joint, its
Move through steering wheel to control.Its foot bottom, equipped with pressure transducer, can detect and ground automatically
The state of face contact.The control that pressure transducer and attitude control system are made according to heat transfer agent
Decision-making, it is achieved at the self adaptation static walking on out-of-flatness ground.
This robot is capable of the self adaptation dynamic walking on irregular ground, it is shown that biological sharp
Encourage the advantage controlling that there is adaptive ability on unknown irregular ground.Its another feature is profit
Navigate with micro radio video camera, can distinguish and dodge the obstacle that front exists, it is possible to
Closing claustra realizes collisionless quickly walk.
This robot mobility and respond are the strongest, and balanced capacity is splendid, and has stronger
Load capacity.
Having the beneficial effect that of the technique scheme of the present invention:
The requirement of this robot road pavement is the lowest, and a large amount of degree of freedom that the foot of robot is had make
The motion of robot is more flexible, rough landform is adapted to ability higher；Walking leg formula
The foothold of robot is discrete, with the contact area on ground is the least, and can be accessible
The optimum strong point is selected, even if in the case of surface is the most irregular, by strictly on ground
Select the strong point of foot, it is also possible to walking is freely；In load, stability, motility and over the ground
The performance of the aspects such as the adaptability in face has obtained large increase, autonomy-oriented and intelligent ability and has obtained
Highlight.Can apply to the detection of danger zone, or the place that the mankind can not arrive, also
Can apply to Aero-Space, unknown celestial body exploration environment.Well solve existing wheeled and carry out
Belt robot can not arrive the restriction of complicated ground, and the walking of other existing legged type robots
Unstable defect.
Accompanying drawing explanation
Fig. 1 is the bionical regular hexagon Hexapod Robot structure top view of the present invention；
Fig. 2 is the bionical regular hexagon Hexapod Robot structural front view of the present invention；
Fig. 3 is the top view of the bionical regular hexagon Hexapod Robot machinery foot of the present invention；
Fig. 4 is the front view of the bionical regular hexagon Hexapod Robot machinery foot of the present invention；
Fig. 5 is the bionical regular hexagon Hexapod Robot closed-loop control system schematic diagram of the present invention.
Wherein: 1-regular hexagon fuselage；2-closed-loop control system；3-machinery foot；The compound rotation of 4-
Pivoted arm；5-galianconism；6-is long-armed；7-horizontal adjustment assembly；The vertical adjusting part of 8-first；9-
Second vertical adjusting part；10-steering wheel one；11-steering wheel two；12-steering wheel three；The miniature rolling of 13-
Dynamic bearing.
Detailed description of the invention
For making the technical problem to be solved in the present invention, technical scheme and advantage clearer, below
To be described in detail in conjunction with the drawings and the specific embodiments.
The present invention is directed to the existing wheeled restriction that can not arrive complicated ground with caterpillar type robot,
And the defect problem that the walking of other existing legged type robots is unstable, it is provided that a kind of bionical positive six
Limit shape Hexapod Robot.
As depicted in figs. 1 and 2, for this robot architecture's schematic diagram, this robot includes positive six
The closed-loop control system 2 of limit shape fuselage 1, walking mechanism and control walking mechanism, walking mechanism
For regular hexagon frame, including three to machinery foot 3, as shown in Figure 3 and Figure 4, every machinery
Foot 3 include composite rotating arm 4, galianconism 5, long-armed 6 and for driving machinery foot 3 in level
The horizontal adjustment assembly 7 that side rotates up, composite rotating arm 4 is pacified by horizontal adjustment assembly 7
Being contained on regular hexagon fuselage 1, the first vertical adjusting part 8 is passed through with multiple in one end of galianconism 5
Closing turning arm 4 to be flexibly connected, the other end of galianconism 5 is by the second vertical adjusting part 9 and length
One end of arm 6 is flexibly connected, and composite rotating arm 4 is installed steering wheel 1 and steering wheel two simultaneously
11, steering wheel 3 12 is installed, equipped with miniature rolling in the lower plate of composite rotating arm 4 on long-armed 6
Bearing 13, composite rotating arm 4 is by miniature bearing 13 and regular hexagon fuselage 1 time
Base plate connects, and plays the effect reinforcing machinery frame, more stable when can make robot motion.
Wherein, closed-loop control system 2 includes pc machine, MCS 51 single-chip microcomputer, servos control
Device, steering wheel 1, steering wheel 2 11, steering wheel 3 12, micro radio transmission camera and pressure
Sensor, pc machine connects MCS 51 single-chip microcomputer being loaded on regular hexagon fuselage 1, MCS
51 single-chip microcomputers connect steering engine controller, and steering engine controller controls steering wheel 1, steering wheel 2 11
With steering wheel 3 12, pressure transducer connects MCS 51 single-chip microcomputer, and photographic head connects MCS
51 single-chip microcomputers.Micro radio transmission camera is arranged on regular hexagon fuselage 1, described
Pressure transducer is arranged on long-armed 6.Micro radio transmission camera and pressure transducer will be caught
The information grasped feeds back to MCS 51 single-chip microcomputer, and MCS 51 single-chip microcomputer is by after information processing
Feeding back to pc machine, the program in then pc machine changes MCS 51 single-chip microcomputer controls three
Steering wheel and then the motion of control robot, micro radio transmission camera passes through wireless module simultaneously
Image information is transmitted out and observes for operator.
Composite rotating arm 4 includes steering wheel 1 and steering wheel 2 11, by two thin plate clampings, rudder
Machine 1 is vertically placed, and is connected with regular hexagon fuselage 1 by horizontal adjustment assembly 7；Rudder
Machine 2 11 horizontal positioned, is connected with galianconism 5 by the first vertical adjusting part 8.Robot
Have six miniature bearings 13.
Rotate, by level as it is shown in figure 5, steering wheel 1 is controlled it by steering engine controller
Adjusting part 7 rotates in horizontal extent around regular hexagon fuselage 1, the most whole machinery foot
3 all can rotate in the horizontal direction, it is possible to driven machine people move forward and backward；By steering engine controller
Control steering wheel 2 11 to rotate, drive galianconism 5 at vertical model by the first vertical adjusting part 8
Enclose interior rotation, drive machinery foot 3 at vertical range of motion, it is possible to accomplish the upper of machinery foot 3
Rise and decline；Controlled steering wheel 3 12 by steering engine controller to rotate, by the second vertical regulation group
Part 9 drives long-armed 6 to rotate in the range of vertically, drives machinery foot 3 to do in horizontal extent and stretches
Exhibition motion, accomplishes elongation and the contraction of machinery foot 3；Three groups of motions have three degree of freedom, it
Between cooperate, MCS 51 single-chip microcomputer receives micro radio transmission camera and pressure sensing
The data that device collects, pass to total pc machine and from pc machine, total pc machine and processing from pc machine
After, control signal is transferred to MCS 51 single-chip microcomputer, control is believed by MCS 51 single-chip microcomputer
Number it is transferred to steering engine controller, it is achieved the various action such as robot ambulation.
The above is the preferred embodiment of the present invention, it is noted that for the art
Those of ordinary skill for, on the premise of without departing from principle of the present invention, it is also possible to do
Going out some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
1. a bionical regular hexagon Hexapod Robot, it is characterised in that: include regular hexagon
The closed-loop control system (2) of fuselage (1), walking mechanism and control walking mechanism, walking mechanism
Including three to machinery foot (3), wherein, every machinery foot (3) include composite rotating arm (4),
Galianconism (5), long-armed (6) and being used for drive the water that machinery foot (3) rotates in the horizontal direction
Flat adjusting part (7), composite rotating arm (4) is just arranged on by horizontal adjustment assembly (7)
On hexagon fuselage (1), the first vertical adjusting part (8) is passed through in one end of galianconism (5)
Being flexibly connected with composite rotating arm (4), the other end of galianconism (5) vertically regulates by second
Assembly (9) is flexibly connected with the one end of long-armed (6), and composite rotating arm is pacified on (4) simultaneously
Dress steering wheel one (10) and steering wheel two (11), long-armed (6) upper steering wheel three (12) of installing, multiple
Close in the lower plate of turning arm (4) equipped with miniature bearing (13), composite rotating arm (4)
It is connected by the lower shoe of miniature bearing (13) with regular hexagon fuselage (1).
Bionical regular hexagon Hexapod Robot the most according to claim 1, its feature exists
In: described walking mechanism is regular hexagon frame.
Bionical regular hexagon Hexapod Robot the most according to claim 1, its feature exists
In: described closed-loop control system (2) includes main pc machine, from pc machine, MCS 51 monolithic
Machine, steering engine controller, steering wheel one (10), steering wheel two (11), steering wheel three (12), miniature
Wireless transmission camera and pressure transducer, the connection of pc machine is loaded on regular hexagon fuselage (1)
MCS 51 single-chip microcomputer, MCS 51 single-chip microcomputer connect steering engine controller, steering engine controller
Controlling steering wheel one (10), steering wheel two (11) and steering wheel three (12), pressure transducer connects
MCS 51 single-chip microcomputer, photographic head connects MCS 51 single-chip microcomputer.
4., according to the bionical regular hexagon Hexapod Robot described in claim 1 or 3, it is special
Levy and be: described micro radio transmission camera is arranged on regular hexagon fuselage (1), institute
State pressure transducer to be arranged on long-armed (6).
Bionical regular hexagon Hexapod Robot the most according to claim 1, its feature exists
In: described steering wheel one (10) is vertically placed, by horizontal adjustment assembly (7) and positive six limits
Shape fuselage (1) connects；Steering wheel two (11) horizontal positioned, by the first vertical adjusting part
(8) it is connected with galianconism (5).
Bionical regular hexagon Hexapod Robot the most according to claim 1, its feature exists
In: described robot has six miniature bearings (13).
Bionical regular hexagon Hexapod Robot the most according to claim 1, its feature exists
In: described steering engine controller controls steering wheel one (10) and rotates, and steering wheel one (10) drives machinery
Foot (3) passes through horizontal adjustment assembly (7) around regular hexagon fuselage (1) in horizontal extent
Interior rotation, driven machine people move forward and backward；Steering engine controller controls steering wheel two (11) and rotates,
Steering wheel two (11) drives machinery foot (3) to drive galianconism by the first vertical adjusting part (8)
(5) rotate in the range of vertically, it is achieved the raising and lowering of machinery foot (3)；Servos control
Device controls steering wheel three (12) and rotates, and steering wheel three (12) drives machinery foot (3) by second
Vertically adjusting part (9) drives long-armed (6) to rotate in the range of vertically, it is achieved machinery foot (3)
Elongation and contraction；MCS 51 single-chip microcomputer receives micro radio transmission camera and pressure passes
The data that sensor collects, pass to total pc machine and from pc machine, total pc machine and at pc machine
After reason, control signal being transferred to MCS 51 single-chip microcomputer, MCS 51 single-chip microcomputer will control
Signal is transferred to steering engine controller, it is achieved robot ambulation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610458218.0A CN105905187A (en) | 2016-06-22 | 2016-06-22 | Bionic regular-hexagon hexapod robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610458218.0A CN105905187A (en) | 2016-06-22 | 2016-06-22 | Bionic regular-hexagon hexapod robot |
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| CN201610458218.0A Pending CN105905187A (en) | 2016-06-22 | 2016-06-22 | Bionic regular-hexagon hexapod robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106945745A (en) * | 2017-05-02 | 2017-07-14 | 吉林大学 | A kind of sufficient mobile platform of double-deck disc type six |
| CN107085425A (en) * | 2017-04-21 | 2017-08-22 | 江苏大学 | A hexapod robot control system and stair climbing gait planning method |
| CN107322607A (en) * | 2017-07-14 | 2017-11-07 | 河南科技学院 | A kind of watermelon picking robot |
| CN109533074A (en) * | 2018-11-14 | 2019-03-29 | 西北农林科技大学 | A kind of implementation method of hexapod robot and its gait of keeping straight on |
| CN110281718A (en) * | 2019-06-27 | 2019-09-27 | 东莞理工学院 | Air-ground amphibious bio-robot and control method |
| CN110329381A (en) * | 2019-07-30 | 2019-10-15 | 南京昱晟机器人科技有限公司 | A kind of high performance bionic legged type robot |
| CN112644598A (en) * | 2020-12-31 | 2021-04-13 | 郑州大学 | Walking mechanical device |
| CN115446822A (en) * | 2022-10-27 | 2022-12-09 | 北京科技大学 | Snake-shaped robot with integrated orthogonal joints for three-dimensional motion |
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