DE60231654D1 - Vorrichtung zum absorbieren von bodenaufprallstössen für mobilen roboter mit beinen - Google Patents

Vorrichtung zum absorbieren von bodenaufprallstössen für mobilen roboter mit beinen

Info

Publication number
DE60231654D1
DE60231654D1 DE60231654T DE60231654T DE60231654D1 DE 60231654 D1 DE60231654 D1 DE 60231654D1 DE 60231654 T DE60231654 T DE 60231654T DE 60231654 T DE60231654 T DE 60231654T DE 60231654 D1 DE60231654 D1 DE 60231654D1
Authority
DE
Germany
Prior art keywords
legs
mobile robots
floor impact
absorbing floor
impact pads
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
DE60231654T
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 DE60231654D1 publication Critical patent/DE60231654D1/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
    • 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
    • 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
    • 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)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
DE60231654T 2001-12-25 2002-12-11 Vorrichtung zum absorbieren von bodenaufprallstössen für mobilen roboter mit beinen Expired - Lifetime DE60231654D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001392788A JP3652643B2 (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/JP2002/012981 WO2003055650A1 (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
DE60231654D1 true DE60231654D1 (de) 2009-04-30

Family

ID=19188690

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60231654T Expired - Lifetime DE60231654D1 (de) 2001-12-25 2002-12-11 Vorrichtung zum absorbieren von bodenaufprallstössen für mobilen roboter mit beinen

Country Status (6)

Country Link
US (1) US6967456B2 (de)
EP (1) EP1466704B1 (de)
JP (1) JP3652643B2 (de)
KR (1) KR100917352B1 (de)
DE (1) DE60231654D1 (de)
WO (1) WO2003055650A1 (de)

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JP3691434B2 (ja) * 2001-12-25 2005-09-07 本田技研工業株式会社 脚式移動ロボットの着床衝撃緩衝装置
JP4246534B2 (ja) * 2003-04-17 2009-04-02 本田技研工業株式会社 二足歩行移動体の床反力作用点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
JP4744092B2 (ja) * 2004-03-23 2011-08-10 本田技研工業株式会社 脚式移動ロボットおよびその制御装置
KR100571839B1 (ko) * 2004-03-31 2006-04-17 삼성전자주식회사 인간형 로봇
PL2490867T3 (pl) * 2009-10-22 2015-02-27 Abb Research Ltd Część robota i sposób zabezpieczenia części robota
CN102079095A (zh) * 2010-11-30 2011-06-01 南京航空航天大学 一种仿蝗虫脚掌的机器人脚
FI20115923A0 (fi) * 2011-09-21 2011-09-21 Zenrobotics Oy Iskunvaimennusrakenne
US9605952B2 (en) * 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
KR101201452B1 (ko) 2012-04-06 2012-11-14 이춘우 인간형 로봇의 발구조
WO2013151321A1 (ko) * 2012-04-06 2013-10-10 Lee Chun-Woo 인간형 로봇의 발구조
US8952809B2 (en) 2013-01-08 2015-02-10 At&T Intellectual Property I, L.P. Methods and apparatus to perform self-protection procedures on electronic devices
CN103204190B (zh) * 2013-03-11 2015-06-24 大连理工大学 一种机器人足部机构
US9618937B1 (en) 2014-08-25 2017-04-11 Google Inc. Slip detection using robotic limbs
US9387588B1 (en) * 2014-08-25 2016-07-12 Google Inc. Handling gait disturbances with asynchronous timing
US10081098B1 (en) 2014-08-25 2018-09-25 Boston Dynamics, Inc. Generalized coordinate surrogates for integrated estimation and control
JP6228097B2 (ja) * 2014-10-06 2017-11-08 本田技研工業株式会社 移動ロボット
US9446518B1 (en) 2014-11-11 2016-09-20 Google Inc. Leg collision avoidance in a robotic device
JP6483419B2 (ja) * 2014-12-01 2019-03-13 トヨタ自動車株式会社 荷重判定方法
US9499218B1 (en) 2014-12-30 2016-11-22 Google Inc. Mechanically-timed footsteps for a robotic device
US9731416B1 (en) * 2015-03-11 2017-08-15 Google Inc. Legged robot passive fluid-based ankles with spring centering
US9594377B1 (en) * 2015-05-12 2017-03-14 Google Inc. Auto-height swing adjustment
US9586316B1 (en) 2015-09-15 2017-03-07 Google Inc. Determination of robotic step path
US20180370040A1 (en) * 2015-11-20 2018-12-27 The Regents Of The University Of California Systems and Methods for Implementing Humanoid Balloon Robots
WO2017087986A1 (en) * 2015-11-20 2017-05-26 The Regents On The University Of California Non-anthropomorphic bipedal robotic system
CN105501326A (zh) * 2015-12-17 2016-04-20 常州大学 仿人机器人两自由度串联减振机械足
US9789919B1 (en) 2016-03-22 2017-10-17 Google Inc. Mitigating sensor noise in legged robots
US11981031B2 (en) * 2016-08-18 2024-05-14 The Trustees Of The University Of Pennsylvania Systems and methods for controlling robotic behaviors
CN106428288B (zh) * 2016-10-28 2018-09-21 河海大学常州校区 具有地形自适应能力的机器人脚装置
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
CN106347519B (zh) * 2016-11-13 2018-07-27 吉林大学 一种自适应沙地仿生机械足
CN107128392B (zh) * 2017-05-04 2019-02-15 河海大学常州校区 一种适应软土地面的气动式机器人脚掌
CN108100074B (zh) * 2017-12-25 2020-06-05 中科新松有限公司 一种机器人的足部结构
KR102170183B1 (ko) * 2018-12-05 2020-10-26 (주)에스엔제이솔루션 형상적응형 압력제어 장치
KR102197960B1 (ko) * 2019-01-10 2021-01-04 (주)에스엔제이솔루션 형상적응 압력제어형 엔드이펙터
CN111098949B (zh) * 2019-12-18 2021-05-28 南京涵曦月自动化科技有限公司 一种足式机器人的腿足弹性装置
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

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JP2592340B2 (ja) * 1989-12-14 1997-03-19 本田技研工業株式会社 脚式歩行ロボットの関節構造
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
JP3118777B2 (ja) 1992-04-20 2000-12-18 本田技研工業株式会社 脚式歩行ロボットの足部構造
JP3270767B2 (ja) 1992-04-28 2002-04-02 本田技研工業株式会社 衝撃吸収機構を備えた脚式歩行ロボット
JP3293952B2 (ja) * 1992-05-26 2002-06-17 本田技研工業株式会社 衝撃吸収手段を備えた脚式歩行ロボット
JP3629133B2 (ja) 1997-01-31 2005-03-16 本田技研工業株式会社 脚式移動ロボットの制御装置
JP3649865B2 (ja) * 1997-07-23 2005-05-18 本田技研工業株式会社 脚式移動ロボットの脚構造
JPH11320461A (ja) * 1998-05-12 1999-11-24 Sony Corp 人工足部
US6554868B1 (en) * 1999-06-03 2003-04-29 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
US6645253B2 (en) * 1999-06-03 2003-11-11 Carl A. Caspers Vacuum pump and shock absorber for artificial limb
JP3691434B2 (ja) * 2001-12-25 2005-09-07 本田技研工業株式会社 脚式移動ロボットの着床衝撃緩衝装置

Also Published As

Publication number Publication date
US20050077856A1 (en) 2005-04-14
EP1466704A4 (de) 2008-02-13
EP1466704A1 (de) 2004-10-13
US6967456B2 (en) 2005-11-22
EP1466704B1 (de) 2009-03-18
JP2003191183A (ja) 2003-07-08
JP3652643B2 (ja) 2005-05-25
WO2003055650A1 (fr) 2003-07-10
KR20040074100A (ko) 2004-08-21
KR100917352B1 (ko) 2009-09-16

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