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WO2009054103A1 - ２足歩行ロボット - Google Patents

２足歩行ロボット Download PDF

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Publication number
WO2009054103A1
WO2009054103A1 PCT/JP2008/002877 JP2008002877W WO2009054103A1 WO 2009054103 A1 WO2009054103 A1 WO 2009054103A1 JP 2008002877 W JP2008002877 W JP 2008002877W WO 2009054103 A1 WO2009054103 A1 WO 2009054103A1
Authority
WO
WIPO (PCT)
Prior art keywords
section
linear actuator
foot sole
ankle joint
connection
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.)
Ceased
Application number
PCT/JP2008/002877
Other languages
English (en)
French (fr)
Inventor
Kenji Takenaka
Yoshihisa Matsuoka
Satoru Ichihashi
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.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
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
Priority claimed from JP2007274846A external-priority patent/JP4911525B2/ja
Priority claimed from JP2007274845A external-priority patent/JP4911524B2/ja
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to US12/445,526 priority Critical patent/US8138707B2/en
Priority to EP08831284A priority patent/EP2093025B1/en
Priority to KR1020107008035A priority patent/KR101182620B1/ko
Publication of WO2009054103A1 publication Critical patent/WO2009054103A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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

Landscapes

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

Abstract

　脚部（２）の下腿リンク（９）と足平部（１１）とを足首関節部（１０）から離れた部分で連結する直動アクチュエータ（１２４）の伸縮動作により足平部を下腿リンクに対し足首関節部を中心にして揺動させるようにした２足歩行ロボットにおいて、直動アクチュエータを大型化せずに階段歩行に必要な所要のモーメントを足平部に付与できるようにする。直動アクチュエータ（１２４）は、該直動アクチュエータの伸縮力が膝関節部（８）と足首関節部（１０）とを結ぶ結線（Ｌ１）に対し後傾した線（Ｌ２）上に作用するように配置される。好ましくは、直動アクチュエータ（１２４）の下腿リンク（９）に対する連結部（Ｙ３ａ）を上記結線（Ｌ１）よりも後方に位置させ、直動アクチュエータ（１２４）の足平部（１１）に対する連結部（Ｙ３ｂ）を上記結線（Ｌ１）よりも前方に位置させる。
PCT/JP2008/002877 2007-10-23 2008-10-10 ２足歩行ロボット Ceased WO2009054103A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US12/445,526 US8138707B2 (en) 2007-10-23 2008-10-10 Bipedal walking robot
EP08831284A EP2093025B1 (en) 2007-10-23 2008-10-10 Two-legged walking robot
KR1020107008035A KR101182620B1 (ko) 2007-10-23 2008-10-10 2 족 보행 로봇

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2007-274845 2007-10-23
JP2007-274846 2007-10-23
JP2007274846A JP4911525B2 (ja) 2007-10-23 2007-10-23 ２足歩行ロボット
JP2007274845A JP4911524B2 (ja) 2007-10-23 2007-10-23 ２足歩行ロボット

Publications (1)

Publication Number Publication Date
WO2009054103A1 true WO2009054103A1 (ja) 2009-04-30

Family

ID=40579213

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/002877 Ceased WO2009054103A1 (ja) 2007-10-23 2008-10-10 ２足歩行ロボット

Country Status (4)

Country Link
US (1) US8138707B2 (ja)
EP (1) EP2093025B1 (ja)
KR (1) KR101182620B1 (ja)
WO (1) WO2009054103A1 (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017136664A (ja) * 2016-02-04 2017-08-10 Thk株式会社 脚式移動ロボット
CN110077486A (zh) * 2019-05-15 2019-08-02 河海大学常州校区 一种仿生八足特种机器人

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KR20130049029A (ko) * 2011-11-03 2013-05-13 삼성전자주식회사 보행 로봇 및 그 제어 방법
WO2013137856A1 (en) * 2012-03-12 2013-09-19 Empire Technology Development Llc Robotic appendages
JP5976401B2 (ja) * 2012-05-31 2016-08-23 Thk株式会社 脚式ロボットの下肢構造及び脚式ロボット
CN102756766B (zh) * 2012-07-11 2014-04-02 安徽工业大学 一种足式机器人驱动腿机构
KR101243140B1 (ko) * 2012-11-07 2013-03-13 엘아이지넥스원 주식회사 착용로봇
US20150101322A1 (en) * 2013-10-14 2015-04-16 Brian Riskas System architecture for mobile hydraulic equipment
CN105083411B (zh) * 2015-08-14 2017-10-03 哈尔滨工业大学 一种气动人工肌肉驱动的仿人下肢
US9878751B1 (en) 2015-10-08 2018-01-30 Boston Dynamics, Inc. Three-piston ankle mechanism of a legged robot and associated control system
WO2017212899A1 (ja) * 2016-06-08 2017-12-14 任天堂株式会社 受動歩行装置及び受動歩行モジュール
KR101876252B1 (ko) * 2016-11-22 2018-07-10 한국과학기술연구원 병렬식 링크 구조를 포함하는 로봇 하체, 이를 포함하는 보행 로봇 장치
JP6936573B2 (ja) * 2016-11-24 2021-09-15 川崎重工業株式会社 ロボットの関節構造体
US10253855B2 (en) 2016-12-15 2019-04-09 Boston Dynamics, Inc. Screw actuator for a legged robot
RU188814U1 (ru) * 2018-08-20 2019-04-24 Дмитрий Валерьевич Хачатуров Актуатор ноги робота-гуманоида
CN109202901A (zh) * 2018-08-29 2019-01-15 厦门理工学院 一种双足机器人爬楼梯步态规划方法、装置及机器人
CN110228545A (zh) * 2019-05-16 2019-09-13 深圳市优必选科技有限公司 一种直线关节及腿足机器人
CN111098951A (zh) * 2019-12-30 2020-05-05 深圳市优必选科技股份有限公司 类人形机器人及其腿部结构
CN112319209A (zh) * 2020-11-18 2021-02-05 内蒙古第一机械集团股份有限公司 一种适用于机器人腿部关节运动的驱动装置
CN113093780B (zh) * 2021-04-06 2022-01-14 中山大学 一种基于降阶极点配置法的机器人平衡控制方法及装置
CN113335416B (zh) * 2021-07-16 2024-11-12 深圳市行者机器人技术有限公司 一种髋关节机构及足式机器人

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Publication number Priority date Publication date Assignee Title
JPH07285085A (ja) * 1994-04-14 1995-10-31 Mitsubishi Heavy Ind Ltd ロボットの歩行脚装置
JP2003266337A (ja) * 2002-03-11 2003-09-24 National Institute Of Advanced Industrial & Technology ２足歩行ロボット
JP2004017248A (ja) * 2002-06-19 2004-01-22 Osaka Industrial Promotion Organization ロボット及びロボット操作システム

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US5808433A (en) 1995-09-29 1998-09-15 Honda Giken Kogyo Kabushiki Kaisha Method of generating gait of legged walking robot and system for controlling its locomotion
JP4213310B2 (ja) 1999-08-30 2009-01-21 本田技研工業株式会社 ２足歩行脚式移動ロボット
US6532400B1 (en) * 2000-03-24 2003-03-11 Intelligent Inference Systems Corporation Biologically-inspired multi-segmented robot
AU2001288077B2 (en) * 2000-09-29 2005-01-06 Honda Giken Kogyo Kabushiki Kaisha Bipedal robot
JP4184679B2 (ja) * 2001-08-01 2008-11-19 本田技研工業株式会社 二足歩行移動体の床反力推定方法及び二足歩行移動体の関節モーメント推定方法
EP1486298B1 (en) * 2002-03-18 2011-05-04 Sony Corporation Robot device with an control device.
EP1552910B1 (en) * 2002-10-10 2019-08-21 Sony Corporation Robot device operation control device and operation control method
JP3599244B2 (ja) * 2002-11-06 2004-12-08 ソニー株式会社 ロボット装置、ロボット装置の運動制御装置並びに運動制御方法
US7072740B2 (en) * 2002-12-16 2006-07-04 Sony Corporation Legged mobile robot
KR100541433B1 (ko) 2002-12-23 2006-01-11 삼성전자주식회사 ２족보행로봇
KR101083414B1 (ko) * 2003-06-27 2011-11-14 혼다 기켄 고교 가부시키가이샤 다리식 이동 로봇의 제어장치
JP4291093B2 (ja) 2003-09-11 2009-07-08 本田技研工業株式会社 ２足歩行移動体の関節モーメント推定方法
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JP2005161469A (ja) * 2003-12-03 2005-06-23 Sony Corp ロボット装置及びロボット装置のための過電流保護装置
JP4513320B2 (ja) * 2003-12-17 2010-07-28 ソニー株式会社 ロボット装置、並びにロボット装置の運動制御方法
EP1721711B1 (en) * 2004-02-06 2011-12-07 Honda Motor Co., Ltd. Gait generator of mobile robot
JP4526332B2 (ja) * 2004-09-06 2010-08-18 本田技研工業株式会社 脚式移動ロボットの脚体関節アシスト装置
JP4504768B2 (ja) * 2004-09-17 2010-07-14 本田技研工業株式会社 脚式移動ロボット
KR100843802B1 (ko) * 2005-12-12 2008-07-04 혼다 기켄 고교 가부시키가이샤 각식 이동 로봇의 제어장치
JP4641252B2 (ja) * 2005-12-12 2011-03-02 本田技研工業株式会社 脚式移動ロボットの歩容生成装置
KR101549817B1 (ko) * 2009-01-22 2015-09-04 삼성전자 주식회사 로봇의 보행 제어장치 및 그 방법
JP5506617B2 (ja) * 2009-12-28 2014-05-28 本田技研工業株式会社 ロボットの制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07285085A (ja) * 1994-04-14 1995-10-31 Mitsubishi Heavy Ind Ltd ロボットの歩行脚装置
JP2003266337A (ja) * 2002-03-11 2003-09-24 National Institute Of Advanced Industrial & Technology ２足歩行ロボット
JP2004017248A (ja) * 2002-06-19 2004-01-22 Osaka Industrial Promotion Organization ロボット及びロボット操作システム

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2093025A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017136664A (ja) * 2016-02-04 2017-08-10 Thk株式会社 脚式移動ロボット
CN110077486A (zh) * 2019-05-15 2019-08-02 河海大学常州校区 一种仿生八足特种机器人

Also Published As

Publication number Publication date
KR101182620B1 (ko) 2012-09-14
US8138707B2 (en) 2012-03-20
EP2093025B1 (en) 2012-05-16
US20090237025A1 (en) 2009-09-24
EP2093025A1 (en) 2009-08-26
EP2093025A4 (en) 2009-12-16
KR20100054159A (ko) 2010-05-24

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