Abstract: A wheel shock absorption structure and a child carrier having the wheel shock absorption structure, including a wheel shaft and a wheel seat connected with a frame, and a lower end of the wheel seat is rotatably connected with a wheel through the wheel shaft. Further including a shock absorber with an elastic structure, an upper end of the shock absorber is removably connected with an upper end of the wheel seat, and the shock absorber rotates synchronously along with the wheel seat; a lower end of the shock absorber is rotatably connected with the wheel shaft which is slidably connected with the lower end of the wheel seat. The shock absorber is driven by sliding of the wheel shaft to generate recoverable elastic deformation to provide damping and buffering. The bending deformation of the shock absorber ensures that the wheel shock absorption structure has a better shock absorbing effect.

Abstract: A system for controlling locomotion of a biped walking robot. The system carries out feedback control for eliminating the deviation between a target value and the detected angle of inclination of the linkage mechanism in the absolute coordinate system. Hence, stable dynamic walking is achieved at all times even during locomotion over rough terrain. In the stability control, the number of joints with respect to which control is conducted is reduced to the minimum required and control is conducted separately but in coordination with respect to the movement or motion in the pitch direction and the movement or motion in the roll direction, while the remaining joints are controlled locally. Thus, the control is considerably simplified. In addition, feedback control is conducted with respect to the velocity components so as to realize the desired posture angles and the feedback gain adjusted so as to achieve the response speed required by the individual linkages.