CN102050167B - Portable two-wheeled two-leg combined transformable robot - Google Patents
Portable two-wheeled two-leg combined transformable robot Download PDFInfo
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- CN102050167B CN102050167B CN2010102794248A CN201010279424A CN102050167B CN 102050167 B CN102050167 B CN 102050167B CN 2010102794248 A CN2010102794248 A CN 2010102794248A CN 201010279424 A CN201010279424 A CN 201010279424A CN 102050167 B CN102050167 B CN 102050167B
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Abstract
本发明公开了一种便携二轮二腿组合式可变形机器人，包括机架、左驱动轮、右驱动轮、控制系统、伸缩机构和多自由度腿；左驱动轮和右驱动轮分别固定安装在机架的两侧端；伸缩系统与机架平行，且安装在机架上，并固连在机架上；控制系统固连在机架正中部；多自由度腿分为左多自由度腿单元和右多自由度腿单元，安装在机架上，且位于控制系统的两侧。本发明的机器人具有独特的轮腿复合式结构，具有较强的越障能力；机器人收合时可以很好的伪装，不易被察觉；机器人轮壳具有减震性能，可承受数米的自由落体冲击；本发明可用于信息侦察和收集，还可以用于恶劣环境下的科学研究与工程应用。
The invention discloses a portable deformable robot with two wheels and two legs, comprising a frame, a left driving wheel, a right driving wheel, a control system, a telescoping mechanism and a multi-degree-of-freedom leg; the left driving wheel and the right driving wheel are respectively fixed and installed On both sides of the frame; the telescopic system is parallel to the frame, and is installed on the frame, and is fixedly connected to the frame; the control system is fixed in the middle of the frame; the multi-degree-of-freedom legs are divided into left multi-degree-of-freedom The leg unit and the right multi-degree-of-freedom leg unit are installed on the frame and located on both sides of the control system. The robot of the present invention has a unique compound structure of wheels and legs, which has a strong ability to overcome obstacles; when the robot is folded, it can be well camouflaged and is not easy to be detected; the wheel shell of the robot has shock absorption performance and can withstand a free fall of several meters Shock; the invention can be used for information reconnaissance and collection, and can also be used for scientific research and engineering applications in harsh environments.
Description
Technical field
The invention belongs to the Robotics field, specifically, be a kind of have on smooth ground quick travel performance and in complex environment, have two of strong obstacle performance take turns two leg compound type deformable robots.
Background technology
Along with the continuous electronization of modern war, informationalized continuous high-technicalization, and people approve that to the value of effective strength deepening constantly of right in personal's theory protects life safety to enjoy people to pay close attention to.The mobile robot has been applied in the information investigation occasion as the semi-intelligent of following development in science and technology to arise at the historic moment or the new product of intelligence more and more; Various mobile robots not only can the mankind play synergism, can also be in real time for people provide important information, even use robot to replace manual work to carry out some dangerous operation and antagonism.Reconnaissance robot is exactly one type and is used to the auxiliary robot that operating personal provides the place ahead real time information (vision, the sense of hearing, potential threat etc.).
Developed countries such as the U.S. have obtained prominent achievement in this type of mobile robot's development and application facet; Like the typical case's representative (http://www.reconrobotics.com/index.cfm) that is exactly this robotlike by Univ Minnesota-Twin Cities USA's development and business-like Scout robot; This robot has two drive wheels; One is supported tail, and light weight is easy to carry and the free-falling body that can resist several meters distances impacts.Scout has only wheeled rolling a kind of mode of motion of advancing, and is furnished with the first-class multisensor of wireless camera on it, and real-time site environment information can be provided in hundred meters; The dangerous situation that is mainly used in the more smooth environment is scouted.But Scout is owing to adopt simple dicycly structure, and obstacle climbing ability is relatively poor, can only be applicable to broad rather level areas face, in actual rural atmospheries such as ruins, meadow, has difficulty in taking a step, and does not have higher using value; Simultaneously, the Scout robot is only handled fuselage color black, does not have and pretends performance preferably, and disguise is not high, is easy to discovered.Owing to above reason, make the application of Scout be subject to many limitations.Therefore, it is superior to be necessary to design a kind of obstacle performance, disguised high novel reconnaissance robot.
Summary of the invention
The objective of the invention is provides a kind of simple in structure, portable to the existing technical deficiency of reconnaissance robot, and has stronger obstacle performance and take turns two leg compound type deformable robots with two of camouflage performance.
The present invention a kind of portable two takes turns two leg compound type deformable robots, comprises frame, left driving wheel, right drive wheel, control system, telescoping mechanism and multiple degree of freedom leg; Frame is the straight-tube shape structure, frame two ends be connected left driving wheel and right drive wheel; The middle part of frame is installed with control system and the multiple degree of freedom leg is connected, and telescoping mechanism is installed on the frame.
Wherein, left driving wheel is identical with right drive wheel structure, comprises driving hub, universal coupling, flexible guiding mechanism, drive motor and damping spring.Drive the hub boring, drive hub inside circular suspension platform is installed, have through hole A on the suspension platform; And the place also is installed with connector on driving hub inner circular arc top.
Flexible guiding mechanism comprises front end seat, permanent seat, rear end seat and at least two moving leaders.Wherein, the rear end seat is circular, and an end of moving leader is fixed on the front end seat, and the other end passes permanent seat captives joint with the rear end seat.Be connected with universal coupling on the said front end seat, the in-to-in connector is connected on universal coupling and the left driving wheel shell.The rear end seat is provided with hanger bracket, has through hole B on the hanger bracket, links to each other through damping spring between through hole A and through hole B; Make driving hub and flexible guiding mechanism relative fixed through universal coupling and damping spring.
Drive motor is fixedly connected on the motor cabinet, and motor cabinet is connected with permanent seat through bearing, and the motor shaft of drive motor is inserted in the permanent seat, fixes with permanent seat.Frame is entangled drive motor, and the frame two ends respectively with left driving wheel and right drive wheel in motor cabinet be connected.
Described telescoping mechanism comprises driving screw mandrel, left screw mandrel bearing, right screw mandrel bearing, flexible motor, flexible motor cabinet, gear A and gear B.Wherein, driving the screw mandrel two ends is connected on the rear end seat in left driving wheel and the right drive wheel through the feed screw nut ways of connecting respectively.Left side screw mandrel bearing and right screw mandrel bearing flexibly connect with the driving screw mandrel.Flexible motor and flexible motor cabinet are connected, and flexible motor cabinet is fixedly sleeved on frame.Be fixedly connected with gear A and gear B respectively on flexible motor output shaft and the driving screw mandrel, gear A and gear B are meshing with each other.
Described multiple degree of freedom leg comprises left multiple degree of freedom leg and right multiple degree of freedom leg, and left multiple degree of freedom leg is identical with right multiple degree of freedom leg structure, comprises leg fixed mount, a n joint motor, n joint frame and roller, and wherein n is a positive integer, and n >=2.Leg fixed mount and frame are fixedly sleeved; The leg fixed mount is captiveed joint with the 1st joint motor; The motor shaft of the 1st joint motor and the 1st joint frame are coupling, and the 1st joint frame captiveed joint with the 2nd joint motor, and the motor shaft of the 2nd joint frame and the 2nd joint motor is coupling; By that analogy; N joint motor captiveed joint with n-1 joint frame, and the motor shaft of n joint motor and n joint frame are coupling, and being coupling at frame joint middle part, n joint is connected with roller.
Said control system is installed on the frame, is used for monitoring the deployed condition that folds of left driving wheel and right drive wheel, and the motion that drives joint motor, flexible motor and drive motor.
Robot of the present invention has expansion and folds two states when implementation and operation; During deployed condition robot both can be on relatively flat ground the flexible motion fast running, carry out and give task accordingly, also can in the rugged environment of complicacy, cross the meadow grit, cross typical obstacle such as step, accomplish assigned work; Robot is reserved left driving wheel and right drive wheel in the external world during collapse state, and the multiple degree of freedom leg draws in left driving wheel and right drive wheel inner, and entire machine people's profile is similar to ellipsoid, has camouflage, and difficult quilt is discovered.
Robot of the present invention has adopted the lean structure in design, alleviated weight; Through the mode that left driving wheel combines with right drive wheel and multiple degree of freedom leg, robot can be crossed various obstacles again and continue to execute the task in smooth environment high speed walking in rugged environment; The driving hub of left driving wheel and right drive wheel adopts spring suspension damping design, and the free-falling body that can bear several meters impacts; The contraction of left driving wheel and right drive wheel can well wear camouflage robot, and difficult quilt is discovered; Less size design both had been convenient to carry and also can have been whipped throwing in the place ahead; The robot function is more complete, and control is simple, both can be applicable to the paramilitary operational detection; Also can be used as indoor struggle against terror; Reduce injures and deaths and avoid massive losses, can also be used for scientific research and practical applications under the harsh environment, have broad application background and market outlook.
The invention has the advantages that:
1, robot of the present invention has two kinds of operational modes: normal traveling mode and the compound obstacle detouring pattern of wheel leg; Can flexible motion at smooth ground environment robot of the present invention, can easily cross obstacles such as meadow, grit, step at rugged complicated ground environment robot of the present invention;
2, robot multi-freedom leg of the present invention has multiple functional status, can draw in to be hidden in the machine person, and also extensible coming is respectively applied for smooth ground running and rugged environment obstacle detouring; Its multi-joint design makes robot control flexibly, and is easy to operate, cooperates the running of drive motor that bigger obstacle detouring moment can be provided;
3, robot of the present invention drives hub and adopts spring suspension system, can absorb certain impact shock energy, and the free-falling body that bears several meters impacts; The optimized choice that damping performance can be through spring stiffness and the quantity of damping spring increase and decrease to be adjusted;
4, robot of the present invention drives the hub profile like the semielliptical shell, and robot of the present invention has Telescopic, can with about two drive hubs and be folded together and pretend, difficult quilt is discovered, and guarantees that robot accomplishes tasks such as scouting better;
5, robot of the present invention robot of the present invention adopts the lean design philosophy, and hub adopts High molecular material, the structure optimization combination; Not only light weight but also shock-resistant; Whole robot quality control is in 5Kg, and profile and quality are convenient to the staff and are carried, and launch tasks such as scouting at any time.
Description of drawings
Fig. 1 is robot integral structure figure of the present invention;
Fig. 2 is the rack construction figure of robot of the present invention;
Fig. 3 is the left driving wheel and the right drive wheel constructional drawing of robot of the present invention;
Fig. 4 is the drive wheel shell structure figure of robot of the present invention;
Fig. 5 is the flexible guiding mechanism constructional drawing of robot of the present invention;
Fig. 6 is the telescoping mechanism constructional drawing of robot of the present invention;
Fig. 7 is the multiple degree of freedom left side leg and the right leg constructional drawing of multiple degree of freedom of robot of the present invention;
Fig. 8 is a robot control system structured flowchart of the present invention;
Fig. 9 is robot control system housing structure figure of the present invention;
Figure 10 is a robot collapse state constructional drawing of the present invention.
Among the figure:
The right drive wheel 4-of 1-frame 2-left driving wheel 3-control system
5-telescoping mechanism 6-multiple degree of freedom leg 101-cable hole 201-left driving wheel shell
The 202-universal coupling 203-guiding mechanism 204-drive motor 205-damping spring that stretches
206-suspension platform 207-through hole A 208-connector 209-projection
210-front end seat 211-permanent seat 212-rear end seat 213-moving leader
214-through hole B 215-hanger bracket 216-motor cabinet 401-control system housing
Vision camera 403-governor circuit 404-power supply 405-sensors A that 402-is wireless
406-sensor B 407-coder reading unit 408-through hole C
409-is wireless vision camera mounting hole
501-drives the flexible motor of screw mandrel 502-left side screw mandrel bearing 503-right screw mandrel bearing 504-
The flexible motor cabinet 506-gear A 507-gear B 601-of 505-left side multiple degree of freedom leg
The right multiple degree of freedom leg of the 602-603-leg fixed mount 604-first joint motor 605-first joint frame
606-second joint motor 607-second joint frame 608-roller
The specific embodiment
To combine accompanying drawing and embodiment that the present invention is done further explain below.
The present invention a kind of portable two takes turns two leg compound type deformable robots, and is as shown in Figure 1, comprises frame 1, left driving wheel 2, right drive wheel 3, control system 4, telescoping mechanism 5 and multiple degree of freedom leg 6.
Described frame 1 is cylindrical structure, and is as shown in Figure 2, and frame 1 two ends have four tapped bore be used to be connected left driving wheel 2 and right drive wheel 3.The middle part of frame 1 is installed with control system 4 and two multiple degree of freedom legs 6 through the mode of screw and clamping, and central rack also has cable hole 101, is convenient to control system 4 wirings; Telescoping mechanism 5 is installed on the frame 1.
Said left driving wheel 2 is identical, as shown in Figure 3 with right drive wheel 3 structures, is that example comprises left driving wheel shell 201, universal coupling 202, flexible guiding mechanism 203, drive motor 204 and damping spring 205 with left driving wheel 2.The circular arc top pyramidal structure that said left driving wheel shell 201 processes for one, as shown in Figure 4, left driving wheel shell 201 borings; Left driving wheel shell 201 inside are equipped with circular suspension platform 206, have through hole A207 on the suspension platform 206; And 201 inner dome places also are provided with connector 208 at the left driving wheel shell, and connector 208 is used for being connected with universal coupling 202.Left driving wheel shell 201 external circumferential positions are provided with horizontal vertical staggered textured projection 209, guarantee that robot has stronger earth-grasping force and grade climbing performance.
Said flexible guiding mechanism 203 comprises front end seat 210, permanent seat 211, rear end seat 212 and three moving leaders 213, and is as shown in Figure 5.Wherein, Rear end seat 212 is circular, and it is cylindric that three moving leaders 213 are, and an end of three moving leaders 213 is fixed on the front end seat 210; The other end passes on the permanent seat 211 and moving leader 213 corresponding holes; Captive joint with rear end seat 212 at last, permanent seat 211 can make front end seat 210 and rear end seat 212 form moving sets in front end seat 210 and 212 slips of rear end seat.Be connected with universal coupling 202 on the said front end seat 210, universal coupling 202 is connected with left driving wheel shell 201 in-to-in connectors 208 through pin, guarantees that left driving wheel shell 201 does the axial stretching motion with front end seat 210.The through hole A207 that said rear end seat 212 sides are provided with on a plurality of and the left driving wheel shell 201 inner suspension platforms 206 is cooresponding; And the hanger bracket 215 that has through hole B214; Link to each other through damping spring 205 between through hole A207 and through hole B214; Thus, left driving wheel shell 201 and flexible guiding mechanism 203 relative fixed.Be parallel to each other between described three moving leaders 213.
Described telescoping mechanism 5 comprises driving screw mandrel 501, left screw mandrel bearing 502, right screw mandrel bearing 503, flexible motor 504, flexible motor cabinet 505, gear A 506 and gear B 507, and is as shown in Figure 6; Wherein driving screw mandrel 501 two ends is connected on the rear end seat 212 in left driving wheel 2 and the right drive wheel 3; Through driving screw mandrel 501 and the screw motion that is fixed on the nut on the rear end seat 212; Make rear end seat 212, front end seat 210 and moving leader 213 common parallel motions in left driving wheel 2 and the right drive wheel 3, thereby make left driving wheel 2 and right drive wheel 3 synchronous extension or fold.Left side screw mandrel bearing 502 flexibly connects with driving screw mandrel 501 respectively with right screw mandrel bearing 503, makes between left screw mandrel bearing 502, right screw mandrel bearing 503 and the driving screw mandrel 501 to constitute revolute pair, has rotational freedom; Can guarantee to drive 501 rotational freedoms that have along himself axis of screw mandrel through left screw mandrel bearing 502 with right screw mandrel bearing 503, and not have one-movement-freedom-degree; Flexible motor 504 is connected through screw and flexible motor cabinet 505, and flexible motor cabinet 505 is fixedly sleeved on frame 1 through the mode of screw and clamping; Said flexible motor 504 can read the angle information and the location information of flexible motor 504 for being integrated with the motor of coder through coder; Gear A 506 constitutes the one-level driving gear pair with gear B 507; Gear B 507 and flexible motor 504 output shaft fixed connections; Gear A 506 is connected with driving screw mandrel 501; Gear A 506 is meshing with each other with gear B 507, regulates the velocity of rotation that drives screw mandrel 501 through the gear A 506 and the engaged transmission of gear B 507, and the diameter of said gear A is greater than the diameter of gear B.Wherein, drive screw mandrel 501 left ends to the distance of left leading screw bearing 502 with drive the distance of screw mandrel 501 right-hand members and equate to right leading screw bearing 503, and less than the length of moving leader 213.
Described multiple degree of freedom leg 6 comprises left multiple degree of freedom leg 601 and right multiple degree of freedom leg 602; Left side multiple degree of freedom leg 601 is identical with right multiple degree of freedom leg 602 structures; Include leg fixed mount 603, first joint motor 604, the first joint frame 605, second joint motor 606, second joint frame 607 and roller 608, as shown in Figure 7.Roller 608 is connected in second joint frame 607 middle parts through screw, and second joint frame 607 is coupling with the motor shaft of second joint motor 606; Second joint motor 606 is fixedly mounted on the first joint frame 605, and the motor shaft of the first joint frame 605 and first joint motor 604 is coupling; First joint motor 604 is fixed on the leg fixed mount 603, and leg fixed mount 603 is connected through screw and frame 1.Multiple degree of freedom leg 6 plays the effect of balanced support when the robot cruising, the major impetus square of obstacle detouring is provided when the robot obstacle detouring.N joint motor and n joint frame can be installed in the multiple degree of freedom leg 6, and n is a positive integer, and n >=2.
Said control system 4 comprises control system housing 401, wireless vision camera 402, governor circuit 403, power supply 404, sensors A 405 and sensor B406, coder reading unit 407, and is as shown in Figure 8; Wherein, control system housing 401 is the cylindrical housings of boring, and governor circuit 403, power supply 404, sensors A 405 and sensor B406, coder reading unit 407 are arranged on control system housing 401 inside.The control system housing has through hole C408 on 401 axis; Make control system housing 401 fixedly sleeved cable hole 101 places on frame 1; Have wireless vision camera mounting hole 409 on the periphery of control system housing 401; Wireless vision camera 402 is embedded on the control system housing 401 through wireless vision camera mounting hole 409, and the shooting of wireless vision is mainly used in the advance real-time vision graphicinformation in the place ahead of transferring robot for 4 02; Coder reading unit 407 is used for reading the rotational angle information of the drive motor 204 and the flexible motor 504 of coder transmission on drive motor 204 and the flexible motor 504, and gives governor circuit 403 with this rotational angle message feedback; Sensors A 405 is used to monitor the collapse state of left driving wheel 2 and right drive wheel 3, when left driving wheel 2 and right drive wheel 3 fold fully, will offer governor circuit 403 and fold signal; Sensor B406 is used to detect the deployed condition of left driving wheel 2 and right drive wheel 3, when left driving wheel 2 and right drive wheel 3 launch fully, will offer governor circuit 403 deployment signals; Governor circuit 403 is used for the control signal that folds and launch that processes sensor A405 and sensor B406 send, and drives the requirement campaign by control signal of first joint motor 604, second joint motor 606, flexible motor 504 and drive motor 204; Power supply is used for respectively giving sensors A 405, sensor B406, coder reading unit 407, wireless vision camera 402, governor circuit 403 and first joint motor 604, second joint motor 606, flexible motor 504 and drive motor 204 that driving power is provided.
Robot of the present invention has expansion and folds two states when implementation and operation; Deployed condition is as shown in Figure 1, this moment robot both can be on relatively flat ground the flexible motion fast running, carry out and give task accordingly, also can in the rugged environment of complicacy, cross the meadow grit, cross typical obstacle such as step, accomplish assigned work; Collapse state is shown in figure 10, and this moment, robot was reserved left driving wheel 2 and right drive wheel 3 in the external world, and multiple degree of freedom leg 6 draws in left driving wheel 2 and right drive wheel 3 inside, and entire machine people's profile is similar to ellipsoid, has camouflage, and difficult quilt is discovered.
Robot of the present invention is when implementing to fold process, and left multiple degree of freedom leg 601 moves with first joint motor 604 of right multiple degree of freedom leg 602, drives the first joint frame 605 and does rotatablely moving near frame 1; Subsequently, second joint motor 606 motion drives second joint frame 607 and does near the rotatablely moving of frame 1, and up to folding desired location, so far makes whole left multiple degree of freedom leg 601 roll up envelope at frame 1 all side positions with right multiple degree of freedom leg 602.At this moment, telescoping mechanism 5 drive left driving wheels 2, right drive wheel 3 fold synchronously toward frame 1 middle part near, finally realize complete left multiple degree of freedom leg 601, right multiple degree of freedom leg 602 and the control system 4 of coating of left driving wheel 2, right drive wheel 3.
Robot of the present invention is that reverse order is implemented with the process of folding when implementing expansion process; Telescoping mechanism 5 driving left driving wheels 2 and right drive wheel 3 synchronous expansions are away from frame 1 middle part; The position that the left driving wheel 2 that can in control system 4, set and right drive wheel 3 launch; Subsequently, left multiple degree of freedom leg 601, right multiple degree of freedom leg 602 launch second joint frame 607 successively, launch the first joint frame 605 again.
Robot of the present invention is lean structure expendable weight in design; Through left driving wheel 2 and the mode that right drive wheel 3 and multiple degree of freedom leg 6 combine, robot can be crossed various obstacles again and continue to execute the task in smooth environment high speed walking in rugged environment; Left driving wheel 2 adopts spring suspension damping design with the driving hub of right drive wheel 3, and the free-falling body that can bear several meters impacts; The contraction of left driving wheel 2 and right drive wheel 3 can well wear camouflage robot, and difficult quilt is discovered; Less size design both had been convenient to carry and also can have been whipped throwing in the place ahead; The robot function is more complete, and control is simple, both can be applicable to reduce injures and deaths and has avoided massive losses, can also be used for scientific research and practical applications under the harsh environment, has broad application background and market outlook.
Claims (10)
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| CN2010102794248A CN102050167B (en) | 2010-09-10 | 2010-09-10 | Portable two-wheeled two-leg combined transformable robot |
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| CN2010102794248A CN102050167B (en) | 2010-09-10 | 2010-09-10 | Portable two-wheeled two-leg combined transformable robot |
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| CN102050167A CN102050167A (en) | 2011-05-11 |
| CN102050167B true CN102050167B (en) | 2012-05-16 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267505B (en) * | 2011-06-29 | 2012-11-07 | 北京航空航天大学 | Portable telescopic spherical throwing detection robot |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| CN103273981A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Transformable search-and-rescue robot with multiple motion tread |
| US11247522B2 (en) | 2016-10-27 | 2022-02-15 | Robotic Research Opco, Llc | Vehicle capable of multiple varieties of locomotion |
| CN106476925B (en) * | 2016-11-04 | 2018-07-24 | 哈尔滨工业大学 | Small-sized movable robot with wheel legs |
| CN108818548B (en) * | 2018-06-20 | 2021-07-20 | 乌鲁木齐明华智能电子科技有限公司 | A security robot for intelligent obstacle avoidance in complex environments |
| CN108922268B (en) * | 2018-08-10 | 2024-05-03 | 北京育悦科技有限公司 | Changeable education teaching robot |
| US11340618B2 (en) | 2019-08-08 | 2022-05-24 | Robotic Research Opco, Llc | Drone based inspection system at railroad crossings |
| US11247089B2 (en) | 2019-08-22 | 2022-02-15 | Robotic Research Opco, Llc | Chemical and biological warfare agent decontamination drone |
| CN111469946B (en) * | 2020-04-24 | 2021-09-14 | 上海宇航系统工程研究所 | Bionic mobile robot with crawling and rolling functions |
| CN112455155B (en) * | 2020-11-26 | 2022-03-25 | 腾讯科技（深圳）有限公司 | Multi-modal deformation wheel, control method and device thereof, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1313250C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Stracture improved ball shape robot omnibearing walking device |
| JP2004148439A (en) * | 2002-10-30 | 2004-05-27 | Sony Corp | Spherical robot and control method of the spherical robot |
| CN100556621C (en) * | 2005-04-05 | 2009-11-04 | 西安电子科技大学 | An omnidirectional rolling spherical robotic device with a stable platform |
| CN2846267Y (en) * | 2005-06-17 | 2006-12-13 | 北京航空航天大学 | Ominibearing moving ball shape robot |
| JP2007112168A (en) * | 2005-10-18 | 2007-05-10 | Yaskawa Electric Corp | Spherical moving device |
| CN100404212C (en) * | 2006-03-15 | 2008-07-23 | 北京邮电大学 | Spherical walking robot with retractable arms |
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