US 12,290,923 B2
Biped robot and multi-configuration robot capable of being spliced autonomously, and control method of multi-configuration robot
Teng Chen, Jinan (CN); Xuewen Rong, Jinan (CN); Yibin Li, Jinan (CN); Guoteng Zhang, Jinan (CN); Guanglin Lu, Jinan (CN); and Jian Bi, Jinan (CN)
Assigned to Shandong University, Jinan (CN)
Filed by Shandong University, Jinan (CN)
Filed on Sep. 23, 2022, as Appl. No. 17/951,557.
Claims priority of application No. 202111129572.6 (CN), filed on Sep. 26, 2021.
Prior Publication US 2023/0099337 A1, Mar. 30, 2023
Int. Cl. H02M 5/275 (2006.01); B25J 9/00 (2006.01); B25J 9/08 (2006.01); B25J 17/00 (2006.01); B62D 57/032 (2006.01); H02M 1/08 (2006.01)
CPC B25J 9/08 (2013.01) [B25J 9/0009 (2013.01); B25J 17/00 (2013.01); B62D 57/032 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A biped robot capable of being spliced autonomously, comprising a torso, arms, legs, a tolerance docking sleeve, and a torso docking device;
the arms are correspondingly arranged on a left side and a right side of the torso, and two legs are arranged on a lower side of the torso;
the tolerance docking sleeve is movably arranged on a rear side of the torso through a base, and the torso docking device is fixed to a front side of the torso; and
the base comprises a base body, a pitching motion link, and a rolling motion link; the base body is provided with a connecting space, and in the connecting space, the base body is connected to the pitching motion link by a pitch torsion spring, and the pitching motion link is connected to the rolling motion link by a rolling torsion spring.