DE60231647D1 - Vorrichtung zum absorbieren von bodenaufschlagstössen für mobilen roboter mit beinen - Google Patents

Vorrichtung zum absorbieren von bodenaufschlagstössen für mobilen roboter mit beinen

Info

Publication number
DE60231647D1
DE60231647D1 DE60231647T DE60231647T DE60231647D1 DE 60231647 D1 DE60231647 D1 DE 60231647D1 DE 60231647 T DE60231647 T DE 60231647T DE 60231647 T DE60231647 T DE 60231647T DE 60231647 D1 DE60231647 D1 DE 60231647D1
Authority
DE
Germany
Prior art keywords
legs
mobile robots
absorbing floor
extraction pads
floor extraction
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 - Lifetime
Application number
DE60231647T
Other languages
English (en)
Inventor
Toru Takenaka
Hiroshi Gomi
Kazushi Hamaya
Yoshinari Takemura
Takashi Matsumoto
Takahide Yoshiike
Yoichi Nishimura
Kazushi Akimoto
Taro Yokoyama
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
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of DE60231647D1 publication Critical patent/DE60231647D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/02—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum
    • F16F9/04—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall
    • F16F9/0472—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall characterised by comprising a damping device
    • F16F9/0481—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using gas only or vacuum in a chamber with a flexible wall characterised by comprising a damping device provided in an opening to the exterior atmosphere

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
DE60231647T 2001-12-25 2002-12-11 Vorrichtung zum absorbieren von bodenaufschlagstössen für mobilen roboter mit beinen Expired - Lifetime DE60231647D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001392787A JP3691434B2 (ja) 2001-12-25 2001-12-25 脚式移動ロボットの着床衝撃緩衝装置
PCT/JP2002/012980 WO2003055649A1 (fr) 2001-12-25 2002-12-11 Dispositif d'absorption du choc du contact avec le sol de robot mobile dote de jambes

Publications (1)

Publication Number Publication Date
DE60231647D1 true DE60231647D1 (de) 2009-04-30

Family

ID=19188689

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60231647T Expired - Lifetime DE60231647D1 (de) 2001-12-25 2002-12-11 Vorrichtung zum absorbieren von bodenaufschlagstössen für mobilen roboter mit beinen

Country Status (6)

Country Link
US (1) US7228923B2 (de)
EP (1) EP1459854B1 (de)
JP (1) JP3691434B2 (de)
KR (1) KR100917183B1 (de)
DE (1) DE60231647D1 (de)
WO (1) WO2003055649A1 (de)

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US8568489B2 (en) * 2007-08-01 2013-10-29 Otto Bock Healthcare Lp Vacuum pump for a prosthetic device
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KR20130073591A (ko) * 2011-12-23 2013-07-03 삼성전자주식회사 지지모듈 및 이를 포함하는 로봇
CN102556199B (zh) * 2011-12-29 2013-07-31 北京航空航天大学 一种仿人机器人多自由度柔性脚板
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JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9731416B1 (en) * 2015-03-11 2017-08-15 Google Inc. Legged robot passive fluid-based ankles with spring centering
CN104843102A (zh) * 2015-03-17 2015-08-19 北京理工大学 一种基于并联六自由度机构的减振足式机器人
CN104816766B (zh) * 2015-04-26 2017-02-01 北京航空航天大学 一种适用于腿式机器人的足部触地检测机构
KR200483407Y1 (ko) 2015-05-22 2017-05-12 이재혁 청소가 용이한 연탄보일러
KR200483591Y1 (ko) 2015-06-03 2017-05-31 이재혁 청소가 용이한 연탄보일러
CN105171776B (zh) * 2015-09-21 2017-09-26 北京航空航天大学 一种可检测足与地面接触情况的多足机器人柔性足部系统
CN105523097B (zh) * 2015-12-23 2018-02-09 北京工业大学 一种仿生防滑机器人腿结构
US10160505B1 (en) * 2016-04-06 2018-12-25 Schaft Inc. Variable-compliance, slip-resistant foot for legged mechanisms
CN105947013B (zh) * 2016-06-23 2019-09-06 河北工业大学 一种柔性仿生机械足
CN106428287B (zh) * 2016-10-28 2018-09-21 河海大学常州校区 含双腔气囊脚趾的柔性腿式机器人脚部结构
WO2019041076A1 (zh) * 2017-08-27 2019-03-07 刘哲 一种智能机器人用自动平衡足部受力装置
CN107310656A (zh) * 2017-08-27 2017-11-03 刘哲 一种行走机器人
CN107554639A (zh) * 2017-08-27 2018-01-09 刘哲 一种智能机器人用自动平衡足部受力装置
CN107512324A (zh) * 2017-08-27 2017-12-26 刘哲 一种智能机器人
CN107554638A (zh) * 2017-08-27 2018-01-09 刘哲 一种抓地力强的行走机器人脚部装置
KR102100044B1 (ko) * 2018-07-19 2020-04-10 한양대학교 산학협력단 로봇
WO2020116214A1 (ja) * 2018-12-03 2020-06-11 ソニー株式会社 ロボットの脚構造
CN110143246B (zh) * 2019-05-29 2020-10-27 北京理工大学 一种具有缓冲和助推功能的腿足机器人足端设计
CN112103206A (zh) 2019-06-17 2020-12-18 上海微电子装备（集团）股份有限公司 工件传输系统、工件传输方法及激光退火设备
CN110116423B (zh) * 2019-06-19 2024-02-27 重庆大学 一种传动轴保护装置、步行机器人关节结构及步行机器人
CN110406610B (zh) * 2019-07-22 2021-12-10 南京理工大学 一种可调预紧力的机器人缓冲足
CN110409264B (zh) * 2019-07-29 2021-05-07 中煤第三建设（集团）有限责任公司 一种路桥铺设检测路面倾角的设备
CN110682304A (zh) * 2019-10-16 2020-01-14 徐江奎 用于机器人的抗冲击缓震机械足
CN111267992B (zh) * 2020-01-19 2021-04-09 之江实验室 一种具有快速减震和路面适应能力的双足机器人足底结构
CN211761669U (zh) * 2020-01-23 2020-10-27 广州视源电子科技股份有限公司 一种机器人足端模组及机器人
CN111591364B (zh) * 2020-05-12 2022-05-06 上海交通大学 被动电磁式可重复缓冲机器人腿系统及缓冲机器人
CN112894887A (zh) * 2021-01-27 2021-06-04 特斯联科技集团有限公司 消毒机器人防撞结构
CN113212800B (zh) * 2021-06-16 2022-09-16 上海交通大学 传动-执行系统解耦的着陆巡视机器人
CN113635993A (zh) * 2021-07-23 2021-11-12 广州大学 一种具备刚柔耦合结构的四足机器人
CN113525549B (zh) * 2021-08-20 2022-12-30 深圳鹏行智能研究有限公司 机器人足部和具有其的机器人
CN113879420B (zh) * 2021-08-30 2023-12-05 中国北方车辆研究所 一种被动切换的防滑足
CN113895539B (zh) * 2021-11-05 2022-04-26 广东博智林智能制造有限公司 一种足部结构及多足机器人
CN114475846B (zh) * 2022-01-12 2023-07-14 深圳市普渡怒放科技有限公司 一种足端触地结构、支腿及足式仿生机器人
CN115000607B (zh) * 2022-06-21 2023-05-09 南通耐维特电源有限公司 一种反冲击功能的锂电池组件

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Also Published As

Publication number Publication date
EP1459854B1 (de) 2009-03-18
US20050011685A1 (en) 2005-01-20
EP1459854A4 (de) 2008-02-13
EP1459854A1 (de) 2004-09-22
JP3691434B2 (ja) 2005-09-07
JP2003191181A (ja) 2003-07-08
WO2003055649A1 (fr) 2003-07-10
KR20040074101A (ko) 2004-08-21
US7228923B2 (en) 2007-06-12
KR100917183B1 (ko) 2009-09-15

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