CN116142514B - Bionic landing leg type unmanned aerial vehicle containing changeable condyles and control method thereof - Google Patents
Bionic landing leg type unmanned aerial vehicle containing changeable condyles and control method thereof Download PDFInfo
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- CN116142514B CN116142514B CN202310350309.2A CN202310350309A CN116142514B CN 116142514 B CN116142514 B CN 116142514B CN 202310350309 A CN202310350309 A CN 202310350309A CN 116142514 B CN116142514 B CN 116142514B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/02—Undercarriages
- B64C25/08—Undercarriages non-fixed, e.g. jettisonable
- B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
- B64C25/18—Operating mechanisms
- B64C25/24—Operating mechanisms electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
- B64C25/58—Arrangements or adaptations of shock-absorbers or springs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a bionic landing leg type unmanned aerial vehicle with changeable condyles and a control method thereof, relates to the field of six-rotor unmanned aerial vehicles, and can stably take off and land under complex terrains. The unmanned aerial vehicle is provided with a mounting platform, four bionic landing legs are connected to the mounting platform, and each bionic landing leg comprises a leg mounting piece, a motor, a first conventional condyle, a second conventional condyle, a third conventional condyle, a first buffering condyle, a second buffering condyle, a fourth conventional condyle and a foot pad. The landing gear is characterized in that the landing gear is integrated with the landing gear, the landing gear takes off and land in complex terrain through the bionic landing foot, the adaptability of the unmanned aerial vehicle to landing in complex terrain is improved, and the application prospect in the unmanned aerial vehicle field is widened.
Description
Technical Field
The invention relates to the field of six-rotor unmanned aerial vehicles, in particular to a multi-condyle bionic four-foot landing leg type six-rotor unmanned aerial vehicle with changeable condyles and a control method thereof.
Background
The multi-rotor unmanned aerial vehicle has wide application field, is wider in military and civil fields, and particularly has wider and wider application working range due to the outstanding characteristics of small size, convenience and easiness in operation, but the use condition of the multi-rotor unmanned aerial vehicle is influenced by natural environment conditions, has certain limitation in lifting on slopes and uneven ground, and has adverse effect on the execution of tasks.
At present, the landing gear of the rotorcraft mainly adopts a sledge type landing gear and a strut type landing gear. And mainly adopt fixed mounting at the belly mode of fuselage during the installation, the structure is relatively fixed, the degree of freedom is low, though structure weight is lighter, increased duration, but make its adaptability to complicated topography weaken, because lack topography self-adaptation's ability, when taking off and land on complicated ground, often need control personnel additionally regulate and control according to experience and control the technique, greatly increased the degree of difficulty of taking off, when the ground information that many rotor unmanned aerial vehicle's take off and land can't be obtained in the obstructed unable of operating personnel sight, even can take place unmanned aerial vehicle unable landing or turn on one's side the accident that damages.
In order to solve the problem of topography self-adaptation, in current unmanned aerial vehicle design scheme, unmanned aerial vehicle type that can self-adaptation topography is few, prior art provides following scheme: the Chinese patent, publication No. CN209274889U, proposes a terrain self-adaptive scheme which adopts four independent telescopic rod structures as the landing gear of the unmanned aerial vehicle in a complex terrain self-adaptive landing gear of the unmanned aerial vehicle. By adopting the structure, each supporting leg can only change the height of the landing point of the foot end, the plane position of the landing point of the foot end cannot be changed, and the self-adaption capability in the transverse direction is not excellent.
The Chinese patent, publication No. CN106043673A, discloses a landing gear of an unmanned aerial vehicle, wherein the landing gear is a fixed ring connected with a body through a supporting rod. The fixing ring is in line contact with the ground, and the types of terrains which can be adapted to the fixing ring are extremely limited. For larger ground unevenness, the terrain with larger ground slope gradient cannot be adapted, and the unmanned aerial vehicle cannot be ensured to be in a horizontal posture when landing, so that the unmanned aerial vehicle is not favored to take off and land. The parallelogram movable joint group provided by the invention solves the problem of movement of the mechanical leg in the vertical direction, so that the ability of the machine body in a horizontal state is more stable.
All-terrain self-adaptive landing gear proposed in an all-terrain self-adaptive unmanned aerial vehicle vertical take-off and landing gear with a patent number of CN109204785A, wherein each bearing column can only move on a guide rail, the movable range is limited, and the selectable landing point is limited. The parallelogram movable joint group formed by the multi-condyle structure can move in a larger range in the vertical direction, and meanwhile, due to the existence of the triangle movable joint group, the buffering and damping problems when the weight and sinking speed are increased are solved.
Therefore, how to optimize the unmanned aerial vehicle so that the unmanned aerial vehicle can meet the requirement of self-adaptive landing of complex terrain becomes a technical problem to be solved by the person skilled in the art.
Disclosure of Invention
Aiming at the problems, the invention provides the bionic landing leg type unmanned aerial vehicle with the changeable condyles and the control method thereof, which can control the bionic landing legs to deform in a large range so as to meet the requirement of self-adaptive landing of complex terrains, and expand the environmental adaptability of the unmanned aerial vehicle.
The technical scheme of the invention is as follows: the unmanned aerial vehicle is provided with a mounting platform 7, four bionic landing legs 8 which are uniformly distributed along the circumferential direction of the mounting platform 7 are connected to the mounting platform 7, and each bionic landing leg 8 comprises a leg mounting piece 81, a motor 82, a first conventional condyle 83, a second conventional condyle 84, a third conventional condyle 85, a first buffering condyle 86, a second buffering condyle 87, a fourth conventional condyle 88 and a foot pad 89;
the middle part of the first conventional condyle 83 is fixedly connected to the mounting platform 7 through a leg mounting member 81; the two ends of the second regular condyle 84 are respectively hinged with a first regular condyle 83 and a third regular condyle 85, the two ends of the first buffering condyle 86 are also respectively hinged with the first regular condyle 83 and the third regular condyle 85, one end of the fourth regular condyle 88 is hinged with the third regular condyle 85, the other end is connected with the foot pad 89, and the two ends of the second buffering condyle 87 are respectively hinged with the third regular condyle 85 and the fourth regular condyle 88;
the motor 82 is arranged at the rotary joint of the first regular condyle 83 and the second regular condyle 84, and the motor 82 drives the second regular condyle 84 to swing reciprocally.
Further, the second conventional condyle 84 is parallel to the first buffered condyle 86. So that the first regular condyle 83, the second regular condyle 84, the third regular condyle 85, and the first buffering condyle 86 are arranged in a parallelogram shape to form a parallelogram-shaped movable joint group I.
Further, the top end of the fourth regular condyle 88 is hinged to the third regular condyle 85, and two ends of the second buffering condyle 87 are respectively hinged to the lower portion of the third regular condyle 85 and the middle portion of the fourth regular condyle 88. So that the third regular condyle 85, the fourth regular condyle 88, and the second buffering condyle 87 are installed in triangular shapes to form a triangle-shaped movable joint group II.
Further, a hinge shaft fixedly connected to the first regular condyle 83 is disposed between the first regular condyle 83 and the second regular condyle 84, the housing of the motor 82 is fixedly connected to the second regular condyle 84, and the output shaft of the motor 82 is fixedly connected to the hinge shaft.
Further, the bottom end of the fourth conventional condyle 88 is connected to the foot pad 89 via a ball-and-socket joint. The foot pad is flat-bottom-shaped, and is made of rubber materials, so that the stability of the bionic landing leg is ensured, and an additional buffering and damping function can be provided for landing.
Furthermore, a control box 5 is fixedly arranged on the mounting platform 7, and the control box 5 comprises a motor controller and a motor controller, and both of the motor controller and the motor controller adopt a PID control algorithm.
To facilitate aircraft attitude adjustment, an attitude loop controller based on a PID control method is designed, and the input of the controller is a desired attitude angle [ phi ] d θ d ψ d ] T And feedback of gestures angle phi θψ] T Is a difference in (2); by outputting three virtual control amounts U φ 、U θ 、U ψ Realizing the control of the attitude of the aircraft;
wherein U is φ U is the roll angle control quantity θ For pitch angle control quantity, U ψ Is the yaw angle control amount; k1, k4, k7 are proportional link coefficients, k2, k5, k8 are integral link coefficients, and k3, k6, k9 are differential link coefficients. e, e φ 、e θ 、e ψ The feedback error for the attitude angle is specifically expressed as follows:
therefore, the aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and further calculate the expected motor rotating speed, and the transformation relation is as follows:
wherein w is 1 ～w 6 For the rotational speeds of the six motors on the rotor arm,for the desired torque of the roll torque, +.>For the desired moment of the pitching moment +.>The yaw moment is the expected moment, f is the expected lift force, l is the rotor wheelbase, b is the blade lift force coefficient, and d is the blade moment coefficient.
The landing gear is characterized in that the landing gear is integrated with the landing gear, the landing gear takes off and land in complex terrain through the bionic landing foot, the adaptability of the unmanned aerial vehicle to landing in complex terrain is improved, and the application prospect in the unmanned aerial vehicle field is widened. Has the following beneficial effects:
the four-foot structure of the bionic landing leg is adopted as the landing gear of the unmanned aerial vehicle, each landing gear has two degrees of freedom and two variable buffering condyles, and higher stability and practicability are ensured on the premise of ensuring larger foot-end movement space. Landing gear cooperation PID controller better adaptation complicated topography take off and land. The structure of the four feet is more stable, and the four feet can be stably landed even in areas with larger gradients and larger concave-convex degrees.
According to the invention, the leg gesture is adjusted in real time by adopting motor drive, the bionic landing leg is provided with two movable joint groups, has a multi-gesture deformation function, can finish self-adaptive take-off and landing with higher height change requirements, and expands the functional range of the unmanned aerial vehicle.
The invention uses the buffer member as the buffer condyle and forms a parallelogram with the conventional condyle, thereby improving the deformation capacity of the bionic landing leg, simultaneously improving the shock absorption and impact resistance capacity and further optimizing the requirements of the terrain environment self-adaptive unmanned aerial vehicle on the take-off and landing speed range.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a high leg schematic of the present invention;
FIG. 3 is a schematic view of the lower leg of the present invention;
FIG. 4 is a schematic representation of the landing and take-off of the present invention on uneven terrain;
FIG. 5 is a schematic view of the structure of a bionic landing leg according to the present invention;
FIG. 6 is a schematic view of a simulated landing leg of the present invention;
FIG. 7 is a schematic diagram of a flight attitude PID control algorithm of the invention;
the device comprises a 1-rotor, a 2-motor upper cover, a 3-motor, a 4-rotor support arm, a 5-control box, a 6-mounting platform upper cover, a 7-mounting platform and 8-bionic landing legs, wherein the upper cover is arranged on the rotor;
81-leg mount, 82-motor, 83-first conventional condyle, 84-second conventional condyle, 85-third conventional condyle, 86-first cushioning condyle, 87-second cushioning condyle, 88-fourth conventional condyle, 89-foot pad.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the following detailed description will make reference to the accompanying drawings.
As shown in fig. 1, the bionic landing leg comprises a rotor wing 1, a motor upper cover 2, a motor 3, a rotor wing support arm 4, a control box 5, a mounting platform upper cover 6, a mounting platform 7 and a bionic landing leg 8.
The mounting platform 7 and the mounting platform upper cover 6 are all axisymmetric patterns, the mounting platform upper cover 6 is mounted at the upper end of the mounting platform 7 and is used for fixedly and symmetrically mounting six rotor support arms 4 at the upper end of the mounting platform, each rotor support arm is fixedly connected with a motor 3, a rotor 1 is fixedly connected to an output shaft of the motor 3, the center of the rotor 1 is fixedly connected to the output shaft of the motor 3 through the motor upper cover 2, and a control box 5 is further arranged at the upper end of the mounting platform upper cover 6 and is used for controlling the rotating speed of the motor 3.
The biomimetic landing leg 8 includes a leg mount 81, a motor 82, a first conventional condyle 83, a second conventional condyle 84, a third conventional condyle 85, a first buffer condyle 86, a second buffer condyle 87, and a fourth conventional condyle 88. The first regular condyle 83 is fixedly connected to the leg mounting member 81, and the second regular condyle 84, the third regular condyle 85 and the fourth regular condyle 88 are sequentially and movably connected, and the degrees of freedom of the first regular condyle and the third regular condyle are rotational degrees of freedom. The first regular condyle 83, the second regular condyle 84, the third regular condyle 85, and the first buffered condyle 86 form a parallelogram-type movable joint group I, and the third regular condyle 85, the fourth regular condyle 88, and the second buffered condyle 87 form a triangle-type movable joint group II.
The movable joint group I formed by the device enables the bionic landing leg to have larger movable space in the vertical direction, enables the damping effect of the first buffering condyle to be more obvious, and provides possibility for the self-adaptive landing of the unmanned aerial vehicle on the terrain with larger height difference.
The movable joint group II formed by the device ensures that the bionic landing leg has larger stability in the vertical direction, and the buffering effect of the second buffering condyle is more obvious, thereby providing possibility for the unmanned aerial vehicle to land and take off at higher speed.
The connecting kinematic pairs between the movable joint groups are rotary kinematic pairs, the inside of the movable joint groups is provided with the rotary kinematic pairs, 4 rotary kinematic pairs are sequentially connected from top to bottom, the flexibility of leg deformation is improved, and the stability is compensated by two buffering condyles.
The biomimetic aspect of the biomimetic landing leg is embodied in the two rotational kinematic pair between the first and second regular condyles 83, 84 and 85 mimicking the hip joint of a living being, the rotational kinematic pair between the third and fourth regular condyles 85, 88 mimicking the knee joint of a living being, and the rotational kinematic pair between the fourth regular condyle and the foot pad 89 mimicking the knee joint of a living being.
And, the foot pad 89 adopts flat bottom shape structure, has increased the area of contact when unmanned aerial vehicle plays to descend, has increased the stability that plays to descend to the form of ball hinge connection between foot pad 89 and the fourth conventional condyle also can play to descend steadily under the slope landing condition.
The working state of the embodiment of the invention comprises a four-foot equal-height type lifting and landing state, as shown in the accompanying drawings 2 and 3, and a four-foot difference-height type lifting and landing state, as shown in the accompanying drawings 4, wherein the four-foot equal-height type lifting and landing state is used for guaranteeing that parts such as a rotor wing, a rotor wing support arm and the like cannot collide in the flying process in the lifting and landing process, and the four-foot difference-height type lifting and landing state is used for lifting and landing in complex terrains such as a concave-convex ground state and a slope terrains.
The control box adopts a PID control method to control the motor and the electric machine. In order to facilitate the attitude adjustment of the aircraft, an attitude loop controller based on a PID control method is designed. The input of the controller is the desired attitude angle [ phi ] d θ d ψ d ] T And feedback of gestures angle phi θψ] T Is a difference in (2); by outputting three virtual control amounts U φ 、U θ 、U ψ Control over the attitude of the aircraft is achieved.
Wherein U is φ U is the roll angle control quantity θ For pitch angle control quantity, U ψ Is the yaw angle control amount; k1, k4, k7 are proportional link coefficients, k2, k5, k8 are integral link coefficients, and k3, k6, k9 are differential link coefficients. e, e φ 、e θ 、e ψ
The feedback error for the attitude angle is specifically expressed as follows:
therefore, the aircraft can adjust the rotating speed of the motor according to the virtual control quantity output by the controller, so that three attitude angles are changed, and the aircraft is controlled to move. The controller block diagram is shown in fig. 7: the aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and then calculate the expected motor rotating speed, and the transformation relation is as follows:
wherein w is 1 ～w 6 For the rotational speeds of the six motors on the rotor arm,for the desired torque of the roll torque, +.>For the desired moment of the pitching moment +.>The yaw moment is the expected moment, f is the expected lift force, l is the rotor wheelbase, b is the blade lift force coefficient, and d is the blade moment coefficient.
After the unmanned aerial vehicle is controlled to reach the corresponding horizontal posture in the above manner, ground information is input in advance according to the specific ground fluctuation condition of the unmanned aerial vehicle in the lifting process, the height required by landing of each bionic leg can be adjusted by calculating the corresponding joint rotation angle, a control signal is sent to the motor 82 by the control box 5 according to the joint rotation angle, the first conventional condyle 83 is driven to rotate to a preset angle, and posture adjustment before lifting is completed.
The mapping relation between the joint angle and the foot end is as follows; establishing a single-leg coordinate system, and setting a second conventional condyle AB as d 1 The lower half BC of the third conventional condyle is d 2 The fourth regular condyle CD is d 3 As shown in fig. 6.
The kinematic positive solution is a pose solving representation for solving the foot end points according to the angles of all joints of the legs in a single-leg coordinate system.
The inverse kinematics is the inverse process of the forward kinematics analysis, and the angles of the hip joints of the legs are solved according to the pose of the foot end points, so that the hip joint rotation is controlled to complete the pre-planned foot end track motion. The angle of the knee joint of the passive joint can be obtained according to the motion rule of the parallelogram structure. The joint angle was obtained as follows:
the four-foot structure of the bionic landing leg is adopted as the landing gear of the unmanned aerial vehicle, each landing gear has two degrees of freedom and two buffering condyles, and higher stability and practicability are ensured on the premise of ensuring larger foot end movement space. Landing gear cooperation PID controller better adaptation complicated topography take off and land. The structure of the four feet is more stable, and the four feet can be stably landed even in areas with larger gradients and larger concave-convex degrees.
According to the invention, the shape of the leg is adjusted by adopting the motor, the bionic landing leg has a multi-pose deformation function, the self-adaptive take-off and landing with higher height change requirement can be completed, and the functional range of the unmanned aerial vehicle is expanded.
The invention uses the buffer component as the buffer condyle and forms a parallelogram with the conventional condyle, thereby improving the deformation capacity of the bionic landing leg, simultaneously increasing the shock absorption and shock resistance, and further optimizing the requirements of the take-off and landing speed range of the self-adaptive unmanned aerial vehicle.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "and/or" as referred to in this application means that each exists alone or both.
As used herein, "connected" means either a direct connection between elements or an indirect connection between elements via other elements.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (5)
1. The control method of the bionic landing leg type unmanned aerial vehicle with the changeable condyles is characterized in that the unmanned aerial vehicle is provided with a mounting platform (7), four bionic landing legs (8) are connected to the mounting platform (7), and each bionic landing leg (8) comprises a leg mounting piece (81), a motor (82), a first conventional condyle (83), a second conventional condyle (84), a third conventional condyle (85), a first buffering condyle (86), a second buffering condyle (87), a fourth conventional condyle (88) and a foot pad (89);
the middle part of the first conventional condyle (83) is fixedly connected to the mounting platform (7) through a leg mounting piece (81); two ends of the second regular condyle (84) are respectively hinged with a first regular condyle (83) and a third regular condyle (85), two ends of the first buffering condyle (86) are also respectively hinged with the first regular condyle (83) and the third regular condyle (85), one end of the fourth regular condyle (88) is hinged with the third regular condyle (85), the other end of the fourth regular condyle is connected with the foot pad (89), and two ends of the second buffering condyle (87) are respectively hinged with the third regular condyle (85) and the fourth regular condyle (88);
the motor (82) is arranged at a rotary joint of the first regular condyle (83) and the second regular condyle (84), and the motor (82) drives the second regular condyle (84) to swing in a reciprocating manner;
a control box (5) is fixedly arranged on the mounting platform (7), and the control box (5) comprises a motor controller and a motor controller which both adopt a PID control algorithm;
to facilitate aircraft attitude adjustment, an attitude loop controller based on a PID control method is designed, and the input of the controller is a desired attitude angle [ phi ] d θ d ψ d ] T And feedback of gestures angle phi θψ] T Is a difference in (2); by outputting three virtual control amounts U φ 、U θ 、U ψ Realizing the control of the attitude of the aircraft;
wherein U is φ U is the roll angle control quantity θ For pitch angle control quantity, U ψ Is the yaw angle control amount; k1, k4 and k7 are proportional link coefficients, k2, k5 and k8 are integral link coefficients, and k3, k6 and k9 are differential link coefficients; e, e φ 、e θ 、e ψ The feedback error for the attitude angle is specifically expressed as follows:
therefore, the aircraft can calculate the expected moment and lifting force according to the virtual control quantity output by the controller, and further calculate the expected motor rotating speed, and the transformation relation is as follows:
wherein w is 1 ～w 6 For the rotational speeds of the six motors on the rotor arm,for the desired torque of the roll torque, +.>For pitching momentDesired moment(s)>The yaw moment is the expected moment, f is the expected lift force, l is the rotor wheelbase, b is the blade lift force coefficient, and d is the blade moment coefficient.
2. A method of controlling a biomimetic landing leg drone with variable condyles as claimed in claim 1, wherein the second regular condyle (84) is parallel to the first buffered condyle (86).
3. The control method of the bionic landing leg type unmanned aerial vehicle with the changeable condyles according to claim 1, wherein the top end of the fourth regular condyle (88) is hinged with a third regular condyle (85), and two ends of the second buffering condyle (87) are respectively hinged with the lower part of the third regular condyle (85) and the middle part of the fourth regular condyle (88).
4. The control method of the bionic landing leg type unmanned aerial vehicle with the changeable condyles according to claim 1, wherein a hinge shaft fixedly connected with the first regular condyle (83) is arranged between the first regular condyle (83) and the second regular condyle (84), a shell of the motor (82) is fixedly connected with the second regular condyle (84), and an output shaft of the motor (82) is fixedly connected with the hinge shaft.
5. The control method of a bionic landing leg type unmanned aerial vehicle with changeable condyles according to claim 1, wherein the bottom end of the fourth conventional condyle (88) is connected with a foot pad (89) through a spherical hinge.
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| CN117246549B (en) * | 2023-11-20 | 2024-01-30 | 江苏汉科航空科技有限公司 | Unmanned aerial vehicle with prevent mechanism of turning on one's side |
| CN117416507B (en) * | 2023-12-18 | 2024-02-20 | 中国空气动力研究与发展中心空天技术研究所 | Water-entering load-reducing device and bionic cross-medium aircraft |
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| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN109204786B (en) * | 2017-07-01 | 2021-06-01 | 深圳市道通智能航空技术股份有限公司 | Undercarriage and unmanned aerial vehicle with same |
| CN107972894B (en) * | 2017-11-01 | 2019-11-29 | 北京宇航系统工程研究所 | A kind of Control System for Reusable Launch Vehicle landing and buffering device |
| CN110480608B (en) * | 2019-08-19 | 2024-06-21 | 长安大学 | Bionic robot with double-drive parallel buffer legs and parallel flexible trunk |
| CN111959749B (en) * | 2020-07-16 | 2022-04-19 | 南京航空航天大学 | Helicopter four-foot undercarriage with terrain self-adaptive take-off, landing and walking capabilities |
| CN111661316B (en) * | 2020-08-08 | 2021-01-08 | 南京航空航天大学 | Variant six-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions |
| CN112027065A (en) * | 2020-08-08 | 2020-12-04 | 南京航空航天大学 | Four-rotor unmanned aerial vehicle with terrain self-adaptive take-off and landing and walking functions |
| KR102417964B1 (en) * | 2021-01-21 | 2022-07-06 | 부산대학교 산학협력단 | Four legs landing system of drone for landing on rough ground and operating method thereof |
| CN112977806B (en) * | 2021-03-04 | 2022-04-22 | 南京航空航天大学 | Self-adaptive walking undercarriage and control method thereof |
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