针对单自由度闭链腿部机构足端轨迹单一导致机器人的地面适应性不足, 提出一种新型可调整闭
链腿部机构. 以Klann 六杆机构为构型基础, 增加一个使其机架铰链转动的自由度 …

The purpose of this work is to investigate the possibilities of climbing higher obstacles while
maintaining the overall dimensions of a walking robot through design improvements and …

Existing biped robots mainly fall into two categories: robots with left and right feet and robots
with upper and lower feet. The load carrying capability of a biped robot is quite limited since …

This paper presents a model of a walking robot with a minimum number of actuators, which
is realized using a 3D printer. The robot has only two independently actuated mechanisms …

研究欠驱动双足机器人在3D 空间稳定行走控制器. 建立双足机器人的3D 动力学模型,
通过构建概循环拉格朗日函数, 把欠驱动双足机器人的3D 动态系统解耦成前向和侧向部分 …

提出一种新型空间单闭链F1C1 (约束力F 和约束力偶C) 约束型6R (转动副) 机构,
并应用其研制一种地面移动机器人. 基于单环运动链构型综合方法, 构造出空间单闭链单自由度 …

A family of biped spatial four-link mechanisms with two revolute and two cylindric joints is
proposed in this paper. Three main categories, including eight configurations are put …

A new single-loop spatial F1C1 (one constraint force F and constraint couple C) constrained
6R (the revolute joint) mechanism is proposed and used as a ground mobile mechanism …

Most current biped robots are equipped with two feet arranged in the right and left which
inspired by the human body system. Different from the existing configurations, a novel biped …

The single foot trajectory of the single-degree-of-freedom close-chain leg mechanism leads
to insufficient ground adaptability. Addressing this, a novel closed chain adjustable leg …