CN114952884B - Wheel-foot integrated robot - Google Patents
Wheel-foot integrated robot Download PDFInfo
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- CN114952884B CN114952884B CN202210559151.5A CN202210559151A CN114952884B CN 114952884 B CN114952884 B CN 114952884B CN 202210559151 A CN202210559151 A CN 202210559151A CN 114952884 B CN114952884 B CN 114952884B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a wheel-foot integrated robot which comprises a robot body, legs, a control board, motor drives and a battery mechanism, wherein the four legs are symmetrically arranged along two sides of the robot body, the batteries are connected with the control board, the control board is connected with the motor drives, the motor drives are connected with the motors, and the motors are connected with the legs. When the robot works, the battery provides power for the whole robot, the control board controls the motor to work, and the motor drives the legs to work. Compared with the traditional foot structure robot, the travel speed can be greatly improved, and the robot travels in the foot structure on unstructured terrains. The robot has high degree of freedom, is light and flexible, and has higher adaptability to the terrain and higher performance under various road conditions. The wheel foot robot has the advantages of high walking and moving speed, strong obstacle crossing function, strong adaptation environment and the like, can be flexibly applied to a plurality of fields such as fire rescue, aerospace, investigation and detection after being loaded with a proper tool, and has high practicability.
Description
Technical Field
The invention relates to design and implementation of a wheel-foot integrated robot, and belongs to the field of robot design improvement.
Background
Since the motion capabilities of robots are limited by the structural topography, the development of foot robots has subsequently begun. Compared with the motion condition of the early robot, the foot robot can freely move in a rugged ground environment and has stronger adaptability to the terrain, and the motion speed of the wheel robot is obviously higher than that of the Yu Zu robot in a flat ground environment although the foot robot has stronger motion capability in a rugged ground environment.
The wheel foot type robot has strong adaptability to unstructured environments, can avoid the defect of high control difficulty, and is one of the research hot spot problems in the current robot field. However, in the prior art, the wheel-foot type robot has been studied in a wheel-foot separated type, and the robot has a relatively complex structure and is easily limited by an environmental space. Therefore, the reasonable optimization of the structure of the wheel-foot robot and the enhancement of the universality of the wheel-foot robot have stronger theoretical and practical application values. In recent years, a great deal of research is carried out on compound motion robots by a plurality of students at home and abroad, and the robot mechanism with the combination of wheels and feet has stronger adaptability to the terrain environment, and has higher maneuverability and practicability. Compared with developed countries such as Japan, western, and the like, the research of China in the field of wheel and foot combined mobile robots is relatively weak, but with the development and progress of economy, the research of China on the field of robots is more and more emphasized, and the research force on the movement of wheel and foot combined robots is also increased for some universities and scientific research institutions in China.
Disclosure of Invention
The invention aims at designing and realizing a wheel-foot integrated robot, which is provided with a wheel type motion mode and a foot type motion mode, can finish motion mode selection by skillfully switching deformation, is provided with an ultrasonic sensor for simple obstacle avoidance, is provided with a camera for image feedback and feedback (for environment perception and path planning in the later stage), and can be used as a carrier to execute tasks such as exploration and rescue. The wheel foot robot has the advantages of high walking and moving speed, strong obstacle crossing function, strong adaptation environment and the like, can be flexibly applied to a plurality of fields such as fire rescue, aerospace, investigation and detection after being loaded with a proper tool, and has high practicability.
The invention mainly breaks through the defects of the prior art, creatively combines the wheel type robot with the foot type robot, so that the robot can realize the mutual conversion between the wheel type robot and the foot type robot after undergoing simple foot deformation, can better adapt to different complex terrains and better meet different use requirements.
The technical scheme adopted by the invention is that the wheel-foot integrated robot comprises a body main body (1), a wheel-foot plate (2) and legs (3). The four legs (3) are symmetrically arranged along two sides of the machine body (1), the four legs (3) are divided into two groups, each group of two legs, the bottommost joints of the two legs (3) of each group are fixed on the wheel foot plate (2), and a total control motor (4), a control board (5) and a battery (6) are arranged in the machine body (1). The battery (6) is connected with the control board (5), the control board (5) is connected with the master control motor (4), the master control motor (4) is connected with the wheel foot plate (2), and the wheel foot plate (2) is connected with the leg (3). The control board (5) is connected with the master control motor (4) and a steering engine of the robot and is used for controlling the robot to move.
The leg is composed of a steering engine, a supporting main body, a rotary joint, a half wheel and a locking structure, and is divided into four areas altogether, wherein the first area comprises a wheel foot plate (2), a first supporting main body (15), a first steering engine (7) and a first rotary joint (11). The wheel foot plate (2) is connected with the first supporting main body (15) through the first steering engine (7) and the first rotary joint (11). When the robot moves in a foot mode, the first supporting body (15) can rotate around the first rotary joint (11) under the driving of the first steering engine (1). When the steering wheel is in wheeled motion, the first supporting body (15) rotates to the horizontal direction under the drive of the first steering engine (1) and then does not rotate any more, and the second area comprises the first supporting body (15), the second supporting body (16), the second steering engine (8) and the second rotary joint (12). The first supporting main body (15) and the second supporting main body (16) are connected through the second steering engine (8) and the second rotary joint (12). When the robot moves in a foot mode, the second supporting body (16) can rotate around the second rotary joint (12) under the drive of the second steering engine (8). When the second support body (16) moves in a wheel type, the second support body (16) is driven by the second steering engine (8) to rotate to the horizontal direction and then does not rotate any more. The third region comprises a second supporting body (16), a first half wheel (13), a third steering engine (9), the first half wheel (13), a second half wheel (14) and a fourth steering engine (10). The second supporting main body (16) is connected with the first half wheel (13) through a third steering engine (9). When the wheel foot is converted, the second half wheel (14) rotates for half a circle under the drive of the fourth steering engine (10) and then is locked through a locking structure (17), and the first half wheel (13) and the second half wheel (14) are spliced into a complete rotatable wheel, so that the conversion of the wheel foot structure is realized.
The control board (5) is provided with a positioning module, a camera module, a microphone, a Wi-Fi module, a comprehensive detection module and a wheel foot control module, wherein the positioning module, the camera module, the microphone, the Wi-Fi module and the comprehensive detection module are connected with the wheel foot control module.
The machine body main body (1) is composed of a main body frame and an external metal protective shell. The legs (3) are axially connected with a main body frame of the main body (1) of the machine body through stud bolts, and the external metal protective shell is fixedly connected with the upper part of the main body (1);
The positioning module comprises a gps system and a GY953 AHRS inertial sensor, and can complete a route of a patrol task according to planning.
The general control motor (4) and the control board (5) are powered by the battery (6) and controlled by the wheel foot control module to generate movement pulse signals, the wheel foot control module transmits the movement pulse signals to the positions of the wheel foot discs (2) of the four legs respectively, the wheel foot discs (2) are connected with the main body (1) of the machine body and the four legs, the wheel foot control module is used as a movement pulse signal carrier for controlling the four legs to control the first steering engine (7) and provide movement control of a first degree of freedom for leg movement, so that the first rotary joints (11) of the legs can horizontally move. Meanwhile, the motion signals transmitted to the second steering engine (8) and the third steering engine (9) are also transmitted by the control board (5) through the positions of the foot wheel disc (2).
In the process of wheel foot conversion and the respective movement of the two states, the control board (5) gives out uniform movement pulse signals to complete synchronous control of each steering engine, the control signal states of the steering engines in different states are calculated through gait analysis, the control board (5) sends out movement pulse signals, the corresponding steering engines receive and complete corresponding movement states, and the movement states of each steering engine in the four feet can be synchronously controlled through the control board (5) to complete each movement gait of the robot.
The camera module is arranged at the front part and the rear part of the main body (1) of the machine body, can monitor the surrounding environment and realizes dead-angle-free monitoring. The microphone employs a microphone sensor MAX9814, and the microphone sensor MAX9814 is mounted on the top of the body (1) and is supported by a cylinder. The Wi-Fi module ESP-12S is embedded in the main body (1) of the airplane body and can be connected and controlled through mobile equipment. The wheel foot control module comprises two modes, namely a remote control mode and a sound control mode, wherein the wheel control mode is adopted when the terrain is flat, and the foot control mode is adopted when the terrain is rough or complex. The integrated detection module includes a humidity sensor SHT30, a pressure sensor MY2901, and an infrared sensor HC141. The humidity sensor SHT30 and the pressure sensor MY2901 are installed inside the main body (1), and the infrared sensor HC141 is installed on the surface of the main body (1).
Compared with the prior art, the invention has the following innovations:
1. The wheel-foot robot has two movement modes of wheels and feet, and can finish movement mode selection by skillfully switching deformation. The two motion modes enable the wheel foot robot to have the advantages of high moving speed, strong obstacle crossing function, strong environment adaptation, convenient control, good maneuvering performance and the like, and the motion performance can be guaranteed.
2. The wheel foot robot not only has higher trafficability to different complex pavements, but also has certain load capacity. After carrying on suitable instrument, can be applied to a plurality of fields such as fire rescue, aerospace, investigation detection in a flexible way, have very high practicality.
3. The robot has simple and firm mechanical structure and higher stability. Meanwhile, the accurate control of each wheel axle can be achieved on the simple mechanical structure. The control is flexible on the basis of overall stability.
Drawings
Fig. 1 is a general form and reference numeral of a robot.
Fig. 2 controls the drive system and reference numerals.
Figure 3 robot leg sets and reference numerals.
Fig. 4 robot axle and reference numerals.
Fig. 5, leg foot style and reference number.
Fig. 6 leg wheeled configuration and reference numerals.
Detailed Description
The invention is described below with reference to the drawings and examples.
As shown in fig. 3 and 4, the robot has a single-leg structure composed of steering engines (7, 8,9, 10), support bodies (15, 16), rotary joints (11, 12), half wheels (13, 14), and a locking structure (17). The first area comprises a wheel foot disc (2), a first supporting main body (15), a first steering engine (7) and a first rotary joint (11). The wheel foot plate (2) is connected with the first supporting main body (15) through the first steering engine (7) and the first rotary joint (11). When the robot moves in a foot mode, the first supporting body (15) can rotate around the first rotary joint (11) under the driving of the first steering engine (1). When the steering wheel is in wheeled motion, the first supporting body (15) rotates to the horizontal direction under the drive of the first steering engine (1) and then does not rotate any more, and the second area comprises the first supporting body (15), the second supporting body (16), the second steering engine (8) and the second rotary joint (12). The first supporting main body (15) and the second supporting main body (16) are connected through the second steering engine (8) and the second rotary joint (12). When the robot moves in a foot mode, the second supporting body (16) can rotate around the second rotary joint (12) under the drive of the second steering engine (8). When the second support body (16) moves in a wheel type, the second support body (16) is driven by the second steering engine (8) to rotate to the horizontal direction and then does not rotate any more. The third region comprises a second supporting body (16), a first half wheel (13), a third steering engine (9), the first half wheel (13), a second half wheel (14) and a fourth steering engine (10). The second supporting main body (16) is connected with the first half wheel (13) through a third steering engine (9). When the wheel foot is converted, the second half wheel (14) rotates for half a circle under the drive of the fourth steering engine (10) and then is locked through a locking structure (17), and the first half wheel (13) and the second half wheel (14) are spliced into a complete rotatable wheel, so that the conversion of the wheel foot structure is realized. In the whole structure, the first rotary joint (11) and the second rotary joint (12) enable the whole leg to have higher flexibility, and can have stronger adaptability on any unstructured terrain. Simultaneously, the locking structure (17) enables the first half wheel (13) and the second half wheel (14) to keep relatively static in the moving process.
The positioning module, the camera module, the microphone, the Wi-Fi module, the comprehensive detection module and the communication module are respectively connected with the wheel foot control module, and the power supply module supplies power to the wheel foot control module, the motor driver and the motor.
The main body (1) of the machine body is composed of a main body frame and an external metal protective shell. The leg (3) is axially connected with a main body frame of the main body (1) of the machine body through a stud, the external metal protection shell is fixedly connected with the upper part of the main body (1) of the machine body, the positioning module is fixed on the metal protection shell and comprises a gps system and a GY953 AHRS inertial sensor, position information and motion state can be sent to the mobile equipment at any time, and a route for patrol task can be completed according to planning.
The camera module is arranged at the front part and the rear part of the main body (1) of the machine body, can monitor the surrounding environment and realizes dead-angle-free monitoring. The microphone employs a microphone sensor MAX9814, and the microphone sensor MAX9814 is mounted on the top of the body (1) and is supported by a cylinder, so that it is easier to detect surrounding sound waves and receive a worker's voice command. The Wi-Fi module ESP-12S is embedded in the main body (1) of the airplane body and can be connected and controlled through mobile equipment. Patrol, monitoring and alarm functions are provided through the Wi-Fi module. The Wi-Fi transmitter with strong functions is installed, so that the working range is wide. The wheel foot control module is a core module of the robot, a control board of the wheel foot control module is embedded in the machine body and connected with the modules in parallel, the wheel foot control module comprises a remote control mode and a sound control mode, the wheel foot control module adopts a wheel control mode when the terrain is flat, and the wheel foot control module adopts a foot control mode when the terrain is rough or complex. The integrated detection module includes a humidity sensor SHT30, a pressure sensor MY2901, and an infrared sensor HC141. The humidity sensor SHT30 and the pressure sensor MY2901 are installed inside the main body (1), and the infrared sensor HC141 is installed on the surface of the main body (1). The humidity sensor SHT30 and the pressure sensor MY2901 are mainly used for detecting physical properties of the road surface, such as humidity and hardness, distinguishing unstructured terrains such as marshes and sand, and the infrared sensor HC141 is mainly used for detecting the terrains on the ground so as to avoid colliding with obstacles and timely adjusting leg stress, and the sensor should be used with attention paid to surface rigidity so as to prolong service life. When the comprehensive detection module detects the change of the physical properties of the road surface, the robot can inform a controller through the Wi-Fi module and give an alarm.
The robot controller is Arduino Uno R3,32 routes, the main control chip is ATMega P, the working voltage is 5V, and the servo motor driver is 130ST-M06025, and is used for adjusting the direction and the state of the robot. The robot is 12 volt output by a 18650 battery pack.
The walking process of the robot is as follows:
1) In the straight running, walking gait (Walk) is adopted.
① The feet (19), the feet (20) and the feet (21) keep static to keep the body stable, the feet (18) perform leg lifting action through the second rotary joints (12) to lift the wheel feet off the ground, and meanwhile, the first rotary joints (11) of the rotary wheel feet enable the wheel foot grounding points to have horizontal forward displacement. After the foot (18) is moved, the foot (19) is displaced horizontally forward in the same manner.
② After the front two feet move and the body is stable, the four feet of the body are fixed, and the trunk of the mobile robot translates forward, so that the gravity center of the robot main body has horizontal forward displacement.
③ After the robot trunk is moved and the body is stabilized, the feet (20) and (21) are moved by adopting the same flow, namely, the feet (18), the feet (19) and the feet (20) are stabilized firstly, the rear legs are lifted up through the movement of the second rotary joints (12) of the feet (21), and meanwhile, the first rotary joints (11) enable the feet (21) to have the same forward displacement as the feet (18) and the feet (19), and the feet (21) are kept fixed after being moved. And then the feet (20) are moved by using the same flow, so that the relative displacement of the four feet is unchanged, and the task of moving forward for a certain distance is integrally completed, namely the straight running is completed.
2) When the robot moves backward, the motion situation is completely symmetrical, the four-foot motion sequence is that the feet (20) and the feet (21) sequentially generate backward horizontal displacement, the steering engine motion sequence is the same as that of the straight running state, the trunk of the robot is stably moved to generate integral backward displacement, and finally the feet (18) and the feet (19) are moved to finish the backward displacement of the integral body.
3) When turning left, the left groups (18, 21) and the right groups (19, 20) touch the ground simultaneously, the moving step length of the left groups (18, 21) is reduced, the moving step length of the right groups (19, 20) is increased, the walking (Walk) is maintained unchanged, and the left turning is realized through the distance difference of the horizontal displacement of the left groups and the right groups.
4) When turning right, the left groups (18, 21) and the right groups (19, 20) touch the ground simultaneously, the moving step length of the left groups (18, 21) is increased, the moving step length of the right groups (19, 20) is reduced, the walking (Walk) is kept unchanged, and the right turning is realized through the distance difference of the horizontal displacement of the left groups and the right groups.
5) When the foot structure is deformed into a wheel structure, the four-foot switching mode is the same, the fourth steering engine (10) rotates outwards, and the second half wheel (14) rotates 180 degrees clockwise along the wheel shaft to form a whole wheel with the first half wheel (13) and is locked through the locking structure (17). At this time, the whole machine body keeps static, the wheels are complemented only through rotation of steering gears on the wheels, and the whole wheels can be controlled through control of the rotating steering gears after locking.
6) When the wheel structure is deformed into a foot structure, the fourth steering engine (10) rotates inwards, and the second half wheel (14) rotates 180 degrees anticlockwise along the wheel shaft to be overlapped with the first half wheel (13) and is locked through the locking structure (17). At this time, the whole machine body keeps static, the whole wheel is restored to a half wheel only through the rotation of the steering engine on the wheel, and the whole wheel is restored to a foot-type posture after being locked, and the whole machine body moves through walking gait.
Claims (5)
1. The wheel-foot integrated robot is characterized by comprising a body main body (1), a wheel-foot disc (2) and legs (3), wherein the four legs (3) are symmetrically arranged along two sides of the body main body (1), the four legs (3) are divided into two groups, each group of two legs is provided with two bottom joints of the two legs (3) of each group and fixed on the wheel-foot disc (2), a master control motor (4), a control board (5) and a battery (6) are arranged in the body main body (1), the battery (6) is connected with the control board (5), the control board (5) is connected with the master control motor (4), the master control motor (4) is connected with the wheel-foot disc (2), the wheel-foot disc (2) is connected with the legs (3), and the control board (5) is connected with the master control motor (4) and a steering engine of the robot for controlling the movement of the robot;
The leg is composed of a steering engine, a supporting main body, a rotary joint, a half wheel and a locking structure, and is divided into four areas, wherein the first area comprises a wheel foot disc (2), a first supporting main body (15), a first steering engine (7) and a first rotary joint (11), the wheel foot disc (2) and the first supporting main body (15) are connected with the first rotary joint (11) through the first steering engine (7), the first supporting main body (15) can rotate around the first rotary joint (11) under the driving of the first steering engine (7) in foot type movement, the first supporting main body (15) can rotate to the horizontal direction under the driving of the first steering engine (7) in wheel type movement, then the first supporting main body (15) can not rotate any more, the second area comprises the first supporting main body (15), the second supporting main body (16), the second steering engine (8) and the second rotary joint (12), the first supporting main body (15) and the second supporting main body (16) are connected with the first rotary joint (12) through the second steering engine (8), the second supporting main body (16) can rotate around the first rotary joint (11) under the driving of the first steering engine (7), the second supporting main body (16) in foot type movement can rotate around the second rotary main body (16) in half wheel type movement, and then the second supporting main body (13) can rotate around the second steering engine (13) in the horizontal direction under the driving of the first steering engine (7) in the horizontal direction, the steering wheel comprises a first supporting main body (13), a second half wheel (14) and a fourth steering wheel (10), wherein the first supporting main body (16) is connected with the first half wheel (13) through a third steering wheel (9), the first half wheel (13) is connected with the second half wheel (14) through the fourth steering wheel (10), when the wheel foot is converted, the second half wheel (14) rotates for half a circle under the drive of the fourth steering wheel (10) and then is locked through a locking structure (17), and the first half wheel (13) and the second half wheel (14) are spliced into a complete rotatable wheel, so that the conversion of the wheel foot structure is realized;
The control board (5) is provided with a positioning module, a camera module, a microphone, a Wi-Fi module, a comprehensive detection module and a wheel foot control module, wherein the positioning module, the camera module, the microphone, the Wi-Fi module and the comprehensive detection module are all connected with the wheel foot control module;
the machine body (1) is composed of a main body frame and an external metal protective shell, wherein the legs (3) are axially connected with the main body frame of the machine body (1) through stud bolts, and the external metal protective shell is fixedly connected with the upper part of the machine body (1).
2. The wheel-foot integrated robot of claim 1 wherein the positioning module comprises a gps system and a GY953 AHRS inertial sensor, and is capable of completing a patrol task according to a planned route.
3. The wheel-foot integrated robot according to claim 1, wherein the master control motor (4) and the control board (5) are powered by the battery (6) and controlled by the wheel-foot control module to generate motion pulse signals, the wheel-foot control module transmits the motion pulse signals to the positions of the wheel-foot discs (2) of the four legs respectively, the wheel-foot discs (2) are connected with the body (1) and the four legs, the wheel-foot control module is used as a motion pulse signal carrier for controlling the four legs and controls the first steering engine (7) to provide a first degree of freedom motion control for leg motions, so that the first rotary joints (11) of the legs can horizontally move, and meanwhile, the motion signals transmitted to the second steering engine (8) and the third steering engine (9) are also transmitted by the control board (5) through the positions of the wheel-foot discs (2).
4. The wheel-foot integrated robot of claim 1, wherein in the process of wheel-foot conversion and the respective movement of two states, the control board (5) gives out uniform movement pulse signals to complete synchronous control of each steering engine, the control signal states of the steering engines in different states are calculated through gait analysis, the control board (5) sends out movement pulse signals corresponding to the steering engines to receive and complete corresponding movement states, and the movement states of each steering engine in four feet can be synchronously controlled through the control board (5) to complete each movement gait of the robot.
5. The wheel-foot integrated robot according to claim 1, wherein the camera module is installed at the front and rear of the body (1) and can monitor the surrounding environment to realize dead angle-free monitoring, the microphone is a microphone sensor MAX9814, the microphone sensor MAX9814 is installed at the top of the body (1) and is supported by a cylinder, the Wi-Fi module ESP-12S is embedded in the body (1) and can be connected and controlled through a mobile device, patrol, monitoring and alarming functions are provided through the Wi-Fi module, the wheel-foot control module comprises two modes, namely a remote control mode and a sound control mode, a wheel control mode is adopted when the terrain is flat, a foot control mode is adopted when the terrain is rough or complex, the comprehensive detection module comprises a humidity sensor SHT30, a pressure sensor MY2901 and an infrared sensor HC141, the humidity sensor SHT30 and the pressure sensor MY2901 are installed in the body (1), and the infrared sensor HC141 is installed on the surface of the body (1).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104058014A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Semi-wheel type robot |
| CN110901784A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Wheel-foot integrated special hexapod robot based on OS wheel |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7598695B2 (en) * | 2005-03-30 | 2009-10-06 | Tmsuk Co., Ltd. | Quadruped walking robot |
| JP4482677B2 (en) * | 2005-05-25 | 2010-06-16 | 学校法人千葉工業大学 | Leg wheel separation type robot |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
| CN104249599B (en) * | 2013-06-27 | 2018-07-13 | 中国北方车辆研究所 | Portable mobile device with the sufficient compound propulsion function of wheel |
| CN104773226B (en) * | 2015-04-20 | 2017-03-08 | 哈尔滨工业大学 | The sufficient change type mobile-robot system of wheel |
| CN106828651B (en) * | 2017-01-20 | 2019-04-23 | 哈尔滨工业大学深圳研究生院 | A Deformable Wheel-Foot Robot |
| CN109018058A (en) * | 2018-10-17 | 2018-12-18 | 哈尔滨理工大学 | A kind of sufficient integral type robot leg structure of wheel |
| CN109533069B (en) * | 2018-12-14 | 2023-09-15 | 中国科学院深圳先进技术研究院 | Constant torque wheel type obstacle surmounting robot |
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- 2022-05-22 CN CN202210559151.5A patent/CN114952884B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104058014A (en) * | 2014-04-30 | 2014-09-24 | 黔南民族师范学院 | Semi-wheel type robot |
| CN110901784A (en) * | 2019-11-26 | 2020-03-24 | 北京工业大学 | Wheel-foot integrated special hexapod robot based on OS wheel |
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