CN104349871B - 腿式机器人的下肢结构以及腿式机器人 - Google Patents

腿式机器人的下肢结构以及腿式机器人 Download PDF

Info

Publication number
CN104349871B
CN104349871B CN201380028692.4A CN201380028692A CN104349871B CN 104349871 B CN104349871 B CN 104349871B CN 201380028692 A CN201380028692 A CN 201380028692A CN 104349871 B CN104349871 B CN 104349871B
Authority
CN
China
Prior art keywords
joint
main body
huckle
pitch axis
femoral
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.)
Active
Application number
CN201380028692.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN104349871A (zh
Inventor
永塚正树
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.)
THK Co Ltd
Original Assignee
THK 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
Application filed by THK Co Ltd filed Critical THK Co Ltd
Publication of CN104349871A publication Critical patent/CN104349871A/zh
Application granted granted Critical
Publication of CN104349871B publication Critical patent/CN104349871B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • 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
    • 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
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • 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
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
CN201380028692.4A 2012-05-31 2013-04-11 腿式机器人的下肢结构以及腿式机器人 Active CN104349871B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2012-124511 2012-05-31
JP2012124511A JP5976401B2 (ja) 2012-05-31 2012-05-31 脚式ロボットの下肢構造及び脚式ロボット
PCT/JP2013/060940 WO2013179782A1 (ja) 2012-05-31 2013-04-11 脚式ロボットの下肢構造及び脚式ロボット

Publications (2)

Publication Number Publication Date
CN104349871A CN104349871A (zh) 2015-02-11
CN104349871B true CN104349871B (zh) 2017-08-25

Family

ID=49672990

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380028692.4A Active CN104349871B (zh) 2012-05-31 2013-04-11 腿式机器人的下肢结构以及腿式机器人

Country Status (6)

Country Link
US (1) US9446514B2 (enExample)
JP (1) JP5976401B2 (enExample)
KR (1) KR101979480B1 (enExample)
CN (1) CN104349871B (enExample)
DE (1) DE112013002741T5 (enExample)
WO (1) WO2013179782A1 (enExample)

Families Citing this family (89)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9789603B2 (en) 2011-04-29 2017-10-17 Sarcos Lc Teleoperated robotic system
US9764464B2 (en) * 2011-08-03 2017-09-19 The Boeing Company Robot including telescopic assemblies for positioning an end effector
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
JP2014209172A (ja) * 2013-03-25 2014-11-06 太陽インキ製造株式会社 感光性樹脂組成物、その硬化被膜およびプリント配線板
US10533542B2 (en) 2014-05-06 2020-01-14 Sarcos Lc Rapidly modulated hydraulic supply for a robotic device
US10512583B2 (en) 2014-05-06 2019-12-24 Sarcos Lc Forward or rearward oriented exoskeleton
US10406676B2 (en) 2014-05-06 2019-09-10 Sarcos Lc Energy recovering legged robotic device
US10766133B2 (en) * 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
KR101627138B1 (ko) * 2014-09-04 2016-06-07 한국생산기술연구원 보행로봇의 다리 구조체
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
CN104401419B (zh) * 2014-11-25 2017-03-01 北京工业大学 一种基于气动人工肌肉的新型双足仿人机器人系统
JP6677970B2 (ja) * 2015-02-20 2020-04-08 川崎重工業株式会社 産業用ロボット
CN106143665A (zh) * 2015-04-21 2016-11-23 电子科技大学 一种可弯曲机器人躯干机构
GB2538714A (en) 2015-05-25 2016-11-30 Robotical Ltd Robot Leg
US10189519B2 (en) * 2015-05-29 2019-01-29 Oregon State University Leg configuration for spring-mass legged locomotion
US9878751B1 (en) 2015-10-08 2018-01-30 Boston Dynamics, Inc. Three-piston ankle mechanism of a legged robot and associated control system
CN106741277B (zh) * 2015-11-20 2020-10-30 沈阳新松机器人自动化股份有限公司 一种混合式机械腿机构
CN105480322B (zh) * 2015-12-17 2018-01-30 哈尔滨龙海特机器人科技有限公司 一种用于高速奔跑足式机器人并联腿结构
US10632626B2 (en) * 2016-06-07 2020-04-28 Worcester Polytechnic Institute Biologically-inspired joints and systems and methods of use thereof
CN106314588A (zh) * 2016-09-19 2017-01-11 南宁邃丛赋语科技开发有限责任公司 一种自动化控制的两足行走机器人
KR20180035626A (ko) * 2016-09-29 2018-04-06 최호림 로봇의 보행장치
CN106493738A (zh) * 2016-10-26 2017-03-15 河南工业大学 一种幼儿助教用双腿行走仿人教育机器人
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
KR101876252B1 (ko) * 2016-11-22 2018-07-10 한국과학기술연구원 병렬식 링크 구조를 포함하는 로봇 하체, 이를 포함하는 보행 로봇 장치
JP6920336B2 (ja) * 2016-11-24 2021-08-18 川崎重工業株式会社 ロボットの関節構造体
US10337561B2 (en) * 2016-12-15 2019-07-02 Boston Dynamics, Inc. Transmission with integrated overload protection for a legged robot
US10253855B2 (en) 2016-12-15 2019-04-09 Boston Dynamics, Inc. Screw actuator for a legged robot
CN106672105B (zh) * 2017-03-01 2023-03-21 吉林大学 一种具有张拉整体结构的仿生四足机器人后肢
CN106726362B (zh) * 2017-03-03 2023-04-07 中国科学院合肥物质科学研究院 用于外骨骼机器人的髋膝一体化关节装置及外骨骼机器人
CN106726363B (zh) * 2017-03-13 2023-11-17 东北大学 一种可穿戴仿生液压下肢康复助行机械装置
WO2018170638A1 (zh) * 2017-03-18 2018-09-27 深圳市方鹏科技有限公司 一种机械人的下肢行走机构系统
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
CN108082325A (zh) * 2017-12-21 2018-05-29 江苏集萃智能制造技术研究所有限公司 一种液压驱动的双足机器人下肢机构
CN109969284A (zh) * 2017-12-28 2019-07-05 沈阳新松机器人自动化股份有限公司 混合式机械腿机构和双足机器人
CN107985439B (zh) * 2017-12-29 2023-12-05 北京钢铁侠科技有限公司 一种仿人机器人腿部机构
CN108095983A (zh) * 2018-02-05 2018-06-01 河北工程大学 一种用于高位截肢患者的两足行走机构
US10719085B2 (en) * 2018-02-22 2020-07-21 Boston Dynamics, Inc. Mobile robot sitting and standing
KR102586197B1 (ko) 2018-12-10 2023-10-11 삼성전자주식회사 운동 보조 장치
WO2020123833A1 (en) * 2018-12-14 2020-06-18 Moog Inc. Humanoid lower body robot electro hydrostatic actuating ankle
JP7150589B2 (ja) * 2018-12-25 2022-10-11 株式会社神戸製鋼所 アクチュエータ装置およびこれを用いた移動機構、装備品
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
CN110236884B (zh) * 2019-07-04 2024-05-03 青岛市中心医院 一种全方位智能髋膝踝关节被动康复训练器
CN110696941B (zh) * 2019-09-19 2024-04-09 浙江工业大学 一种冗余混联电液混合驱动拟人机械腿
CN110696944A (zh) * 2019-11-11 2020-01-17 路邦科技授权有限公司 一种仿生机器人的腿部远程控制系统及其控制方法
KR102256225B1 (ko) * 2019-11-20 2021-05-26 주식회사 엔젤로보틱스 하체 보조로봇
KR20210065644A (ko) 2019-11-27 2021-06-04 주식회사 에프알티 공압 모듈을 구비하는 하지용 웨어러블 외골격 로봇
CN111017063B (zh) * 2019-12-17 2022-03-22 上海哲谦应用科技有限公司 一种直驱式类人双足机器人
CN110962959B (zh) * 2019-12-24 2022-03-08 深圳市行者机器人技术有限公司 一种机器人及其机械腿
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
CN111388279B (zh) * 2020-02-21 2025-07-11 南方科技大学 柔性助行外骨骼
CN111516773B (zh) * 2020-04-02 2025-05-27 之江实验室 一种具有多种运动模式的可重构双足机器人
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
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
CN112937717B (zh) * 2021-02-03 2023-06-13 南方科技大学 一种仿生机械腿及仿生机器人
CN112937720B (zh) * 2021-02-05 2021-09-28 重庆工程职业技术学院 一种行走机器人
CN112874656B (zh) * 2021-03-23 2023-03-31 上海智能制造功能平台有限公司 机器人的腿部机构及机器人
CN115195899B (zh) * 2021-04-09 2023-06-30 暗物智能科技(广州)有限公司 一种轮足切换式机器人
CN113635992B (zh) * 2021-06-15 2023-02-10 上海大学 一种双关节气动人工肌肉驱动的仿生跳跃腿
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
CN113401246B (zh) * 2021-07-21 2022-08-12 北京理工大学 一种仿生机器人腿足机构
CN114161472B (zh) * 2021-11-17 2024-02-13 深圳市优必选科技股份有限公司 髋腰关节结构及人形机器人
CN114056450B (zh) * 2021-11-26 2022-11-29 合肥工业大学 一种用于无人变胞车的轮足式折叠腿
CN113998028A (zh) * 2021-12-22 2022-02-01 成都理工大学 一种足式机器人双自由度基节结构
CN115056883A (zh) * 2022-05-06 2022-09-16 纯米科技(上海)股份有限公司 腿部结构及四足机器人
CN115056884B (zh) * 2022-06-27 2023-10-17 北京工业大学 具有差分关节解耦与惯量上移特性的仿人机器人腿结构
CN115415997B (zh) * 2022-08-16 2025-07-29 山东科技大学 一种拮抗式气动肌肉下肢动力外骨骼
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
WO2024098070A1 (en) 2022-11-04 2024-05-10 Sarcos Corp. Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction
US11924023B1 (en) 2022-11-17 2024-03-05 Sarcos Corp. Systems and methods for redundant network communication in a robot
US11897132B1 (en) 2022-11-17 2024-02-13 Sarcos Corp. Systems and methods for redundant network communication in a robot
JP2024102435A (ja) * 2023-01-19 2024-07-31 トヨタ自動車株式会社 ロボットの関節構造
CN115892280A (zh) * 2023-02-10 2023-04-04 哈尔滨工业大学 一种液压双足单腿
CN116605329A (zh) * 2023-05-17 2023-08-18 傅利叶动力(北京)科技有限公司 双足机器人的下肢组件
CN116767380A (zh) * 2023-08-07 2023-09-19 太原理工大学 一种基于气动软体驱动器的仿生腿弹跳机器人
CN116729520B (zh) * 2023-08-11 2023-10-20 太原理工大学 一种基于双层波纹管气动软体驱动器的仿生四足机器人
WO2025049602A1 (en) * 2023-08-28 2025-03-06 University Of Southern California A bipedal robot for dynamic and robust location in diverse environments
CN117961965B (zh) * 2024-03-08 2025-04-29 哈尔滨工业大学 一种基于3d打印的仿生六自由度异形机械臂
CN118514784B (zh) * 2024-07-19 2024-11-29 南京理工大学 一种可竖直站立的两足步行机器人下肢结构
CN118990599A (zh) * 2024-08-23 2024-11-22 哈尔滨工业大学 一种液压驱动的人形机器人盆骨
CN119078989B (zh) * 2024-10-23 2025-12-09 广州小鹏汽车科技有限公司 腿部结构及人形机器人
CN119973959A (zh) * 2025-03-13 2025-05-13 南京理工大学 一种髋膝关节助行外骨骼机器人

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI100098B (fi) * 1995-11-06 1997-09-30 Plustech Oy Jalkamekanismi
US6109378A (en) 1995-11-06 2000-08-29 Plustech Oy Leg mechanism
US6481512B1 (en) * 1999-01-28 2002-11-19 Sony Corporation Joint device for robot device and leg- walking robot device
CN1081515C (zh) * 1999-04-05 2002-03-27 张平顺 两腿步行机
EP1344611B1 (en) * 2000-11-20 2010-08-18 Sony Corporation Device and method for controlling operation of legged robot, and robot device
JP2002264046A (ja) 2001-03-12 2002-09-18 Rikogaku Shinkokai マスター・スレーブ式遠隔操作型二足歩行ロボット
KR100541433B1 (ko) * 2002-12-23 2006-01-11 삼성전자주식회사 ２족보행로봇
KR20040068438A (ko) * 2003-01-25 2004-07-31 삼성전자주식회사 보행식 로봇 및 그 위치이동방법
JP4635135B2 (ja) * 2004-06-28 2011-02-16 学校法人 芝浦工業大学 歩行装置
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
EP2093025B1 (en) * 2007-10-23 2012-05-16 Honda Motor Co., Ltd. Two-legged walking robot
JP4911525B2 (ja) * 2007-10-23 2012-04-04 本田技研工業株式会社 ２足歩行ロボット
KR101484943B1 (ko) * 2008-05-30 2015-01-21 삼성전자 주식회사 보행로봇
KR101464125B1 (ko) * 2008-06-05 2014-12-04 삼성전자주식회사 보행로봇
JP5539040B2 (ja) * 2010-06-04 2014-07-02 本田技研工業株式会社 脚式移動ロボット

Also Published As

Publication number Publication date
JP2013248699A (ja) 2013-12-12
CN104349871A (zh) 2015-02-11
WO2013179782A1 (ja) 2013-12-05
US20150122559A1 (en) 2015-05-07
KR20150016362A (ko) 2015-02-11
DE112013002741T5 (de) 2015-03-19
JP5976401B2 (ja) 2016-08-23
US9446514B2 (en) 2016-09-20
KR101979480B1 (ko) 2019-08-28

Similar Documents

Publication Publication Date Title
CN104349871B (zh) 腿式机器人的下肢结构以及腿式机器人
JP5872846B2 (ja) ロボットの関節構造及びこの関節構造が組み込まれた人間型ロボット
JP5373880B2 (ja) 脚式ロボット
CN101391417B (zh) 一种基于被动运动方式的双足类人机器人
WO2013179783A1 (ja) 脚式ロボットの下肢構造及び脚式ロボット
US11192600B2 (en) Robot leg
CN112937717A (zh) 一种仿生机械腿及仿生机器人
JP2013248699A5 (enExample)
CN105599822B (zh) 一种基于柔性驱动器的欠驱动双足步行机器人
CN103707951A (zh) 基于人工肌肉驱动的双腿机器人腿部机构
CN102198664B (zh) 具有中心球面副的两自由度球面并联的机器人仿生踝关节
KR102256225B1 (ko) 하체 보조로봇
CN111846008A (zh) 一种具有变刚度踝关节的双足机器人
KR102445308B1 (ko) 다족 로봇용 다리유닛
CN113084862A (zh) 一种具有三柔性驱动分支的外骨骼机器人踝关节
JP2001239478A (ja) 脚式移動ロボット及び脚式移動ロボットのための可動脚ユニット連結構造
CN111846011A (zh) 一种电驱动仿生四足机器人
CN109969284A (zh) 混合式机械腿机构和双足机器人
CN109848966B (zh) 单驱仿生机械腿
JP7676264B2 (ja) 外骨格型着用ロボット
CN104985585B (zh) 一种伸缩驱动的仿人机器人的仿生腰部机构
CN115056881B (zh) 一种集成仿生躯干的电液混动四足机器人
JP6705658B2 (ja) 脚式移動ロボット
CN119911344B (zh) 一种基于滚动接触关节的绳驱机械腿
CN107685787A (zh) 一种机器人关节直线驱动系统

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant