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WO2025136066A1 - Robot à jambes multiples - Google Patents

Robot à jambes multiples Download PDF

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Publication number
WO2025136066A1
WO2025136066A1 PCT/KR2024/097156 KR2024097156W WO2025136066A1 WO 2025136066 A1 WO2025136066 A1 WO 2025136066A1 KR 2024097156 W KR2024097156 W KR 2024097156W WO 2025136066 A1 WO2025136066 A1 WO 2025136066A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving motor
hole
motor
coupled
reducer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/KR2024/097156
Other languages
English (en)
Korean (ko)
Inventor
오준호
윤태수
정의욱
정효빈
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rainbow Robotics Inc
Original Assignee
Rainbow Robotics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rainbow Robotics Inc filed Critical Rainbow Robotics Inc
Publication of WO2025136066A1 publication Critical patent/WO2025136066A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators
    • 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

Definitions

  • the present invention relates to a multi-legged robot, and more specifically, to a multi-legged robot in which a plurality of drive motors are provided as modularized drive modules so that a power supply structure and a communication connection structure can be unified and simplified, thereby preventing restrictions on the movement of the leg portions, and thus enabling freer movement.
  • a robot is a multifunctional manipulator designed to perform specific movements and tasks through programmed variable motions. Robots are widely used in various industries including manufacturing, transportation, exploration, medical, surveillance, and patrol.
  • Robots may be configured to be physically fixed in a specific location, such as an industrial robot arm, but they may also be configured to be mobile, with one or more legs or wheels. Mobile robots have a wider range of uses and applications than fixed robots.
  • a typical example of a mobile robot is a multi-legged robot with more than one leg, for example, a quadruped robot with two legs on each side.
  • a multi-legged robot should avoid stepping on or colliding with obstacles while moving, and requires walking control technology to maintain the robot's balance and speed stably while avoiding contact with obstacles.
  • the leg portion may include a first driving motor mounted on the body for driving, a first reducer coupled thereto, a second driving motor coupled to the first reducer, a second reducer coupled thereto, a third driving motor coupled to the second reducer, and a reducer coupled thereto.
  • first drive motor and the first reducer for example, roll rotation can be performed
  • second drive motor and the second reducer for example, hip pitch rotation can be performed
  • third drive motor and the third reducer for example, knee pitch rotation can be performed.
  • the power connection structure may be complex, which may limit the operation of parts forming the legs, and problems such as joint twisting may occur.
  • An embodiment of the present invention provides a multi-legged robot which has a plurality of drive motors in modularized drive modules, thereby unifying and simplifying the power supply structure and the communication connection structure, thereby preventing restrictions on the movement of the leg portion, thereby enabling freer movement.
  • a multi-legged robot comprises: a body; and a plurality of leg parts coupled to the body; wherein the leg parts include: a first driving motor generating a driving force for rotating a first driving shaft; a second driving motor provided on one side of a rear end of the first driving motor and having a second driving shaft having a transverse direction with the first driving shaft; and a third driving motor coupled to a front end of the second driving motor and having a third driving shaft in the same line as the second driving shaft; a first reducer having one end coupled to the first driving shaft of the first driving motor and the other end coupled to the body to amplify a motor torque output of the first driving motor to enable roll rotation of the first driving motor with respect to the body; a second reducer coupled to the second driving shaft of the second driving motor to amplify a motor torque output of the second driving motor to enable rotation of a connected knee pitch joint; and a third reducer provided between the third driving motor and the second reducer and coupled to the third driving
  • a multi-legged robot may further include a power and communication module coupled to the drive module to selectively provide power or communication to the first drive motor, the second drive motor, and the third drive motor.
  • the power and communication module may be provided with a power connector electrically connected to a power supply unit provided in each of the first driving motor, the second driving motor, and the third driving motor, and a communication connector connected to a communication unit.
  • a first through-hole is provided on one surface of the first driving motor through which the power supply unit and the communication unit of the first driving motor are exposed
  • a second through-hole is provided on one surface of the second driving motor or the third driving motor through which the power supply unit and the communication unit of the second driving motor and the power supply unit and the communication unit of the third driving motor are exposed, and power and communication can be connected while the power and communication modules cover the first through-hole and the second through-hole.
  • the power and communication module may include: a module frame; a PCB substrate coupled to the inside of the module frame and having the power connector and the communication connector mounted thereon; and a waterproof plate through which the power connector and the communication connector pass and which is waterproof when coupled with the first through-hole and the second through-hole.
  • the waterproof plate may be provided with a first waterproof O-ring having a ring shape corresponding to the first through-hole and inserted into the first through-hole to prevent the formation of a gap with the first through-hole, and a second waterproof O-ring having a ring shape corresponding to the second through-hole and inserted into the second through-hole to prevent the formation of a gap with the second through-hole.
  • the third drive shaft of the third drive motor is a hollow shaft
  • the second drive shaft of the second drive motor is coupled to a hollow portion within the third drive shaft so as not to cause interference, but an end of the third drive shaft is exposed from an end of the second drive shaft so that the second reducer can be penetratedly coupled to the second drive shaft and the third reducer can be penetratedly coupled to an end of the third drive shaft.
  • At least one of the first reducer, the second reducer and the third reducer may include a reducer body having a hole member in which a coupling hole to which the drive shaft is coupled is formed; a reducer cover member coupled so that the hole member penetrates through one side of the reducer body; and a cross roller bearing interposed in an area where an outer edge portion of the reducer body and an outer edge portion of the reducer cover member come into contact to waterproof a space between the reducer body and the reducer cover member.
  • an O-ring for waterproofing may be provided at a portion where the reduction body and the cross roller bearing come into contact and at a portion where the reduction cover member and the cross roller bearing come into contact.
  • the cross roller bearing is provided in a ring shape with a vertical cross section having a rectangular shape
  • the reduction body is provided with a stepped portion with which one vertex area of the cross roller bearing comes into contact
  • the reduction cover member can have another vertex area of the cross roller bearing come into contact
  • a plurality of drive motors are provided with modularized drive modules, thereby unifying and simplifying the power supply structure and the communication connection structure, thereby preventing restrictions on the movement of the leg portion, thereby enabling freer movement.
  • a waterproof structure to the joint structure of the power and communication modules for the drive module, it is possible to prevent external substances such as liquids from penetrating into the drive module, and in addition, a waterproof structure is applied to each reducer to prevent external substances from entering therein.
  • FIG. 1 is a conceptual drawing very schematically showing the configuration of a multi-legged robot according to one embodiment of the present invention.
  • Figure 2 is a perspective view of the bridge portion shown in Figure 1.
  • Figure 3 is a drawing showing the internal structure of the bridge portion of Figure 2.
  • Figure 4 is an exploded perspective view of the bridge portion shown in Figure 2.
  • Figure 5 is a drawing of the partial bonding state of Figure 4 viewed from below.
  • Figure 6 is an enlarged drawing of the combined structure of the power and communication modules in Figure 5.
  • Figure 7 is an exploded perspective view of the power and communication module illustrated in Figure 6.
  • Fig. 8 is a drawing for explaining the waterproof structure of the reducer shown in Fig. 2.
  • FIG. 1 is a conceptual drawing schematically showing the configuration of a multi-legged robot according to one embodiment of the present invention
  • FIG. 2 is a perspective view of the leg portion shown in FIG. 1
  • FIG. 3 is a drawing showing the internal structure of the leg portion of FIG. 2
  • FIG. 4 is an exploded perspective view of the leg portion of FIG. 2
  • FIG. 5 is a drawing showing the partial coupling state of FIG. 4 as seen from below
  • FIG. 6 is an enlarged drawing of the coupling structure of the power and communication modules in FIG. 5
  • FIG. 7 is an exploded perspective view of the power and communication module shown in FIG. 6,
  • FIG. 8 is a drawing for explaining the waterproof structure of the reducer shown in FIG. 2.
  • a multi-legged robot (100) may include a body (101) forming a main body, and a plurality of leg parts (110) joined at four corner areas thereof, i.e., four leg parts (110) of the present embodiment.
  • leg part (110) allows movement while maintaining balance at a stable speed.
  • the body (101) of the present embodiment forms a basic body, and four leg parts (110) capable of various movements can be combined at the four corner areas of the body.
  • each leg part (110) is modularized and can be detached from the body (101), thereby allowing a leg part (110) requiring maintenance among the leg parts (110) to be separated and replaced with a new leg part (110) or the leg part (110) to be reattached after maintenance.
  • the bridge (110) of the present embodiment may include a drive module (120) in which drive motors (130, 140, 150) are modularized, and reducers (160, 170, 180) coupled to the drive module (120).
  • the drive module (120) of the present embodiment may include, as illustrated in FIGS. 1 to 5, a first drive motor (130) that generates a driving force to rotate a first drive shaft (131), a second drive motor (140) that is provided on one side of the rear end of the first drive motor (130) and has a second drive shaft (141) that is transverse to the first drive shaft (131), and a third drive motor (150) that has a third drive shaft (151) that is on the same line as the second drive shaft (141) and is coupled to the front end of the second drive motor (140).
  • a first drive motor (130) that generates a driving force to rotate a first drive shaft (131)
  • a second drive motor (140) that is provided on one side of the rear end of the first drive motor (130) and has a second drive shaft (141) that is transverse to the first drive shaft (131)
  • a third drive motor (150) that has a third drive shaft (151) that is on the same line as the second drive shaft (141) and is
  • the three drive motors (130, 140, 150) can have a modularized structure.
  • the power supply structure was complicated because power had to be connected to each drive motor, and this also restricted the movement of each part composed of the drive motor and the reducer.
  • the power supply connection structure as well as the communication connection structure can be greatly simplified due to the modularization of the drive motors (130, 140, 150). This will be described later.
  • a first reduction gear (160) may be connected to the first driving shaft (131) of the first driving motor (130) of the driving module (120).
  • the first reduction gear (131) of the present embodiment has one end coupled to the first driving shaft (131) of the first driving motor (130) and the other end coupled to the body (101) to amplify the motor torque output of the first driving motor (130) so that the first driving motor (130) can roll rotate with respect to the body (101).
  • the first reducer (160) is a reducer that reduces the high-speed rotation of the first driving motor (130) and transmits its power, and through this, the entire leg section (110) can roll and rotate with respect to the body (101).
  • the first reducer (160) can be detachably coupled to the body (101).
  • the body (101) is provided with a guide groove for coupling, and the outer surface of the first reducer (160) is provided with a guide member inserted into the guide groove, so that the entire leg portion (110) can be coupled to or separated from the body (101) as described above.
  • the second reducer (170) of the present embodiment is coupled to the end of the second drive shaft (141) of the second drive motor (140), as shown in FIGS. 1 to 5, to convert the rotational power of the second drive motor (140) into rotational torque, thereby enabling the rotation of the knee reach joint (171) connected to the second reducer (170).
  • the third reducer (180) of the present embodiment is provided between the third driving motor (150) and the second reducer (170), as illustrated in detail in FIGS. 1 to 5, and is coupled to the third driving shaft (151) of the third driving motor (150) to amplify the motor torque output of the third driving motor (150), thereby enabling rotation of the hip pitch joint (181) connected to the third reducer (180).
  • first, second, and third drive motors (130), (140), and (150) are modularized, and the respective reducers (160, 170, and 180) are coupled, and by the operation of the reducers (160, 170, and 180), the relative roll rotation with respect to the part coupled thereto, as well as the hip pitch rotation and the knee pitch rotation, are performed, so that the leg part (110) can exhibit optimized movement.
  • the second driving shaft (141) of the second driving motor (140) of the present embodiment and the third driving shaft (151) of the third driving motor (150) may be provided to have the same direction on the same line.
  • the third drive shaft (151) of the third drive motor (150) is a hollow shaft with a hollow center
  • the second drive shaft (141) of the second drive motor (140) can be connected to penetrate the hollow portion within the third drive shaft (151) so that its end is exposed.
  • the second reducer (170) can be connected to the end of the second drive shaft (141) of the second drive motor (140) through the penetration
  • the third reducer (180) can be connected to the end of the third drive shaft (151) between them through the penetration.
  • the diameter of the second driving shaft (141) is smaller than the inner diameter of the hollow portion of the third driving shaft (151), so that the second driving shaft (141) can rotate without interference with respect to the third driving shaft (151), and through this, the second reducer (170) connected to the second driving motor (140) and the third reducer (180) connected to the third driving motor (150) can operate individually.
  • the leg part (110) of the multi-legged robot (100) of the present embodiment can simplify the power and communication structure by modularizing the drive motors (130, 140, 150), and can prevent the movement of the leg part (110) from being restricted. This will be described with reference to the drawings.
  • the leg portion (110) of the present embodiment may further include a power and communication module (190) that is detachably coupled to the drive module (120) to selectively provide power or communication to the first drive motor (130), the second drive motor (140), and the third drive motor (150).
  • a power and communication module 190
  • the drive module 120
  • the third drive motor 150
  • a power supply unit (132) for providing power to the first driving motor (130) and a communication unit (134) for communication connection may be provided on the inside of the first driving motor (130), and these may be exposed to the outside through a first through hole (133) provided on the bottom surface of the first driving motor (130).
  • the power supply unit (142) and the communication unit (143) of the second driving motor (140) and the power supply unit (152) and the communication unit (154) of the third driving motor (150) may be provided in one area on the inside of the second driving motor (140) or the inside of the third driving motor (150).
  • the power supply unit (142) and the communication unit (143) of the second driving motor (140) and the power supply unit (152) and the communication unit (154) of the third driving motor (150) may be provided in the inner space of the third driving motor (150). In addition, these may be exposed to the outside through the second through-hole (153) provided on the bottom surface of the third driving motor (150).
  • each through hole may be provided so that the power supply and communication unit are exposed in the area of each driving motor. That is, three through holes may be provided according to the number of driving motors, and a structure may be provided in which the power supply and communication unit of each driving motor can be exposed to the outside through each through hole.
  • the power and communication module (190) is coupled to the first through hole (133) and the second through hole (153), power is provided and communication connections are established for the first driving motor (130), the second driving motor (140), and the third driving motor (150).
  • the power and communication module (190) of the present embodiment may include power connectors (193) electrically connected to power supply units (132, 142, 152) provided in each of the first driving motor (130), the second driving motor (140), and the third driving motor (150), and communication connectors (194) connected to each of the communication units (134, 143, 154).
  • the power and communication module (190) of the present embodiment may include a module frame (191) having a plate shape covering the through holes (133, 153), as shown in FIGS. 5 to 7, a PCB substrate (192) coupled to the inside of the module frame (191) and having a power connector (193) and a communication connector (194) mounted thereon, and a waterproof plate (195) through which the power connector (193) and the communication connector (194) pass and which is waterproof when coupled with the first through hole (133) and the second through hole (153).
  • the waterproof plate (195) provided in the power and communication module (190) may be provided with a first waterproof O-ring (196) having a ring shape corresponding to the first through-hole (133) and inserted into the first through-hole (133) to prevent the occurrence of a gap with the first through-hole (133), as shown in FIG. 7, and a second waterproof O-ring (197) having a ring shape corresponding to the second through-hole (153) and inserted into the second through-hole (153) to prevent the occurrence of a gap with the second through-hole (153).
  • the through holes can be provided in each of the driving motors, and in this case, it goes without saying that the O-ring structure of the waterproof plate can also be provided correspondingly.
  • the waterproof structure provided in the power and communication module (190) can prevent external foreign substances such as water from entering the drive motors, thereby enhancing durability.
  • each reducer (160, 170, 180) can have a waterproof structure.
  • the waterproof structure of the reducers (160, 170, 180) will be described.
  • Fig. 8 is a drawing for explaining the waterproof structure of the reducer shown in Fig. 2.
  • the first reducer (160) of the present embodiment may include a reducer body (161) provided with a hole member (167) in which a coupling hole (167h) to which a first drive shaft (131) of a first drive motor (130) is coupled is formed, a reducer cover member (162) coupled so that the hole member (167) penetrates through one side of the reducer body (161), and a cross roller bearing (163) interposed in an area where the outer edge of the reducer body (161) and the outer edge of the reducer cover member (162) come into contact to waterproof the space between the reducer body (161) and the reducer cover member (162).
  • the first reducer (160) can be equipped with a waterproof function. That is, by a simple structure in which a cross roller bearing (163) is placed and joined between a reducer body (161) and a reducer cover member (162), a sturdy waterproof structure can be provided, and substances such as liquids can be prevented from entering the first reducer (160).
  • an O-ring (164: 165, 166) for waterproofing is provided at the part where the reduction body (161) and the cross roller bearing (163) come into contact and at the part where the reduction cover member (162) and the cross roller bearing (163) come into contact, thereby preventing external substances from entering.
  • the cross roller bearing (163) may be provided in a ring shape with a vertical cross section having a rectangular shape, and the reduction body (161) may be provided with a stepped portion where one vertex area of the cross roller bearing (163) comes into contact. This not only complicates the path through which external substances can penetrate, but also enhances the waterproof function by providing an O-ring (165) in that area.
  • the reduction cover member (162) is provided with a stepped portion where another vertex area of the cross roller bearing (163) comes into contact, and an O-ring (166) is interposed in that portion, so that penetration of external substances between them can be effectively prevented.
  • the power supply structure and the communication connection structure can be unified and simplified by having a plurality of drive motors (130, 140, 150) equipped with a modularized drive module (120), thereby preventing restrictions on the movement of the leg portion (110), thereby allowing freer movement.
  • a waterproof structure to the coupling structure of the power and communication module (190) to the drive module (120), it is possible to prevent external substances such as liquids from penetrating into the drive module (120), and in addition, a waterproof structure is applied to each reducer (160, 170, 180) to prevent external substances from entering therein.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

Un robot à jambes multiples selon un mode de réalisation de la présente invention comprend : un corps ; et de multiples parties jambe accouplées au corps, les parties jambe comprenant : un module d'entraînement dans lequel un premier moteur d'entraînement, un deuxième moteur d'entraînement et un troisième moteur d'entraînement sont modularisés ; un premier décélérateur ayant une extrémité accouplée à un premier arbre d'entraînement du premier moteur d'entraînement et l'autre extrémité accouplée au corps pour amplifier une sortie de couple moteur du premier moteur d'entraînement de façon à permettre une rotation de roulis du premier moteur d'entraînement par rapport au corps ; un deuxième décélérateur accouplé à un deuxième arbre d'entraînement du deuxième moteur d'entraînement pour amplifier une sortie de couple moteur du deuxième moteur d'entraînement de façon à permettre la rotation d'une articulation de tangage de genou reliée ; et un troisième décélérateur disposé entre le troisième moteur d'entraînement et le deuxième décélérateur et accouplé à un troisième arbre d'entraînement du troisième moteur d'entraînement pour amplifier une sortie de couple moteur du troisième moteur d'entraînement de façon à permettre la rotation d'une articulation de tangage de hanche reliée.
PCT/KR2024/097156 2023-12-18 2024-12-18 Robot à jambes multiples Pending WO2025136066A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2023-0184529 2023-12-18
KR1020230184529A KR102838793B1 (ko) 2023-12-18 2023-12-18 다족 로봇

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WO2025136066A1 true WO2025136066A1 (fr) 2025-06-26

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KR (1) KR102838793B1 (fr)
WO (1) WO2025136066A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200149237Y1 (ko) * 1996-10-29 1999-06-15 추호석 수직 다관절 로보트의 구동부 연결 구조
KR20160062972A (ko) * 2014-11-26 2016-06-03 한국해양과학기술원 추진기 배치가 변경 가능한 가변구조 수중로봇
KR20180125840A (ko) * 2017-05-16 2018-11-26 네이버랩스 주식회사 관절전환장치 및 이를 포함하는 로봇
CN209408531U (zh) * 2018-10-19 2019-09-20 杭州宇树科技有限公司 高度集成的机器人双关节单元及足式机器人和协作机械臂
JP2022514720A (ja) * 2018-09-26 2022-02-14 ゴースト ロボティクス コーポレーション 脚式ロボット

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200149237Y1 (ko) * 1996-10-29 1999-06-15 추호석 수직 다관절 로보트의 구동부 연결 구조
KR20160062972A (ko) * 2014-11-26 2016-06-03 한국해양과학기술원 추진기 배치가 변경 가능한 가변구조 수중로봇
KR20180125840A (ko) * 2017-05-16 2018-11-26 네이버랩스 주식회사 관절전환장치 및 이를 포함하는 로봇
JP2022514720A (ja) * 2018-09-26 2022-02-14 ゴースト ロボティクス コーポレーション 脚式ロボット
CN209408531U (zh) * 2018-10-19 2019-09-20 杭州宇树科技有限公司 高度集成的机器人双关节单元及足式机器人和协作机械臂

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KR102838793B1 (ko) 2025-07-25
KR20250094050A (ko) 2025-06-25

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