CN104470684B - 用于仿人机器人的脊支柱 - Google Patents

用于仿人机器人的脊支柱 Download PDF

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Publication number
CN104470684B
CN104470684B CN201380038654.7A CN201380038654A CN104470684B CN 104470684 B CN104470684 B CN 104470684B CN 201380038654 A CN201380038654 A CN 201380038654A CN 104470684 B CN104470684 B CN 104470684B
Authority
CN
China
Prior art keywords
spinal
upper base
point
strut
lower base
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.)
Expired - Fee Related
Application number
CN201380038654.7A
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English (en)
Chinese (zh)
Other versions
CN104470684A (zh
Inventor
B·迈索尼耶
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.)
Aldebaran SAS
Original Assignee
Aldebaran Robotics SA
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 Aldebaran Robotics SA filed Critical Aldebaran Robotics SA
Publication of CN104470684A publication Critical patent/CN104470684A/zh
Application granted granted Critical
Publication of CN104470684B publication Critical patent/CN104470684B/zh
Expired - Fee Related 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
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/06—Arms flexible
    • 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)
  • Prostheses (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)
CN201380038654.7A 2012-06-01 2013-05-31 用于仿人机器人的脊支柱 Expired - Fee Related CN104470684B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1255078 2012-06-01
FR1255078A FR2991221B1 (fr) 2012-06-01 2012-06-01 Colonne vertebrale pour robot humanoide
PCT/EP2013/061224 WO2013178772A1 (fr) 2012-06-01 2013-05-31 Colonne vertébrale pour robot humanoïde

Publications (2)

Publication Number Publication Date
CN104470684A CN104470684A (zh) 2015-03-25
CN104470684B true CN104470684B (zh) 2017-03-08

Family

ID=47080620

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380038654.7A Expired - Fee Related CN104470684B (zh) 2012-06-01 2013-05-31 用于仿人机器人的脊支柱

Country Status (9)

Country Link
US (1) US20150122073A1 (enExample)
EP (1) EP2855104B1 (enExample)
JP (1) JP6272837B2 (enExample)
CN (1) CN104470684B (enExample)
BR (1) BR112014030051A2 (enExample)
DK (1) DK2855104T3 (enExample)
ES (1) ES2641838T3 (enExample)
FR (1) FR2991221B1 (enExample)
WO (1) WO2013178772A1 (enExample)

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JP6337432B2 (ja) 2013-09-10 2018-06-06 セイコーエプソン株式会社 関節駆動装置及びロボット
US9796097B2 (en) 2013-09-10 2017-10-24 Seiko Epson Corporation Robot and manufacturing method for robot
JP2016144545A (ja) * 2015-02-08 2016-08-12 学校法人塚本学院 大阪芸術大学 生活支援伸縮自在ロボット
ITUB20152049A1 (it) * 2015-07-13 2017-01-13 Marco Ceccarelli Torso artificiale per robot umanoide
AU2016375178B2 (en) 2015-12-24 2019-01-17 B-Temia Inc. Modular exoskeleton structure that provides force assistance to the user
FR3046051B1 (fr) * 2015-12-24 2020-11-13 Sagem Defense Securite Module de dos pour une structure d'exosquelette
US11318626B1 (en) * 2018-03-02 2022-05-03 Empower Robotics Corporation Compliant joint for a robotic arm
CN108974175B (zh) * 2018-08-18 2019-09-27 华中科技大学 一种双足机器人的骨盆结构
US11584027B2 (en) 2018-09-26 2023-02-21 Rethink Robotics Gmbh Joint of collaborative robot, and housing therefor
KR102595853B1 (ko) * 2019-03-11 2023-10-30 삼성전자주식회사 탄성체 외피를 포함하는 로봇 장치
PL246838B1 (pl) * 2022-12-14 2025-03-17 Politechnika Koszalinska Samonośny kręgosłup robota humanoidalnego

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WO1996036462A1 (en) * 1995-05-19 1996-11-21 Mcgill University Deformable structural arrangement
WO1998049976A1 (en) * 1997-05-08 1998-11-12 Shangli Huang An artificial tubular muscle and application thereof
CN1533321A (zh) * 2001-06-13 2004-09-29 �Ʒ� 用于蛇形机械臂的连接件组件

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US20040082265A1 (en) * 1997-07-25 2004-04-29 Michael Langton Poseable figure and spine system for use therein
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JP4269391B2 (ja) * 1999-02-19 2009-05-27 ソニー株式会社 湾曲機構とロボット
US6858005B2 (en) * 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6537130B1 (en) * 2000-09-07 2003-03-25 C.J. Associates, Ltd. Jointed support system and method of constructing same
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JP3341213B2 (ja) * 2000-10-13 2002-11-05 株式会社ボークス 人形玩具
US6568984B1 (en) * 2000-11-09 2003-05-27 Johnson Research & Development Co., Inc. Toy figurine
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US7090637B2 (en) * 2003-05-23 2006-08-15 Novare Surgical Systems, Inc. Articulating mechanism for remote manipulation of a surgical or diagnostic tool
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US7815485B2 (en) * 2008-02-27 2010-10-19 Shoot The Moon Products Ii, Llc Pose and play dolls
FR2931718B1 (fr) * 2008-05-29 2011-02-11 Bia Hanche pour robot humanoide
US20100295417A1 (en) * 2009-05-21 2010-11-25 President And Fellows Of Harvard College Multi-Segmented Spine with Integrated Actuation
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Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2039549C (en) * 1990-05-11 1996-04-30 Frank R. Bubic Flexible robotic links and manipulator trunks made therefrom
WO1996036462A1 (en) * 1995-05-19 1996-11-21 Mcgill University Deformable structural arrangement
WO1998049976A1 (en) * 1997-05-08 1998-11-12 Shangli Huang An artificial tubular muscle and application thereof
CN1533321A (zh) * 2001-06-13 2004-09-29 �Ʒ� 用于蛇形机械臂的连接件组件

Also Published As

Publication number Publication date
FR2991221A1 (fr) 2013-12-06
DK2855104T3 (en) 2017-10-16
WO2013178772A1 (fr) 2013-12-05
BR112014030051A2 (pt) 2017-06-27
ES2641838T3 (es) 2017-11-14
EP2855104A1 (fr) 2015-04-08
CN104470684A (zh) 2015-03-25
EP2855104B1 (fr) 2017-07-05
FR2991221B1 (fr) 2015-02-27
US20150122073A1 (en) 2015-05-07
JP6272837B2 (ja) 2018-01-31
JP2015523221A (ja) 2015-08-13

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SE01 Entry into force of request for substantive examination
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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170308

Termination date: 20210531

CF01 Termination of patent right due to non-payment of annual fee