ES2086907T3 - Pie de robot marchador. - Google Patents

Pie de robot marchador.

Info

Publication number
ES2086907T3
ES2086907T3 ES93402696T ES93402696T ES2086907T3 ES 2086907 T3 ES2086907 T3 ES 2086907T3 ES 93402696 T ES93402696 T ES 93402696T ES 93402696 T ES93402696 T ES 93402696T ES 2086907 T3 ES2086907 T3 ES 2086907T3
Authority
ES
Spain
Prior art keywords
sole
sensors
foot
robot foot
marking robot
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
ES93402696T
Other languages
English (en)
Inventor
Beaucourt Philippe De
Philippe Garrec
Philippe Morganti
Didier Sabourin
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Application granted granted Critical
Publication of ES2086907T3 publication Critical patent/ES2086907T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • 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

Landscapes

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

Abstract

PIE DE ROBOT MARCHADOR QUE COMPRENDE EN PARTICULAR UNOS MEDIOS (2, 17) DE ORIENTACION AUTOMATICA DE LA SUELA, UNOS CAPTADORES (7, 8) DE INCLINACION DE LA SUELA, UNOS CAPTADORES DE CONTACTO CON EL SUELO (25) PARA VERIFICAR LA EXTENSION DEL APOYO, UNOS RESORTES AMORTIGUANTES (14) DE COMPRESION DE LA ARMADURA (6) DEL PIE PARA NO APLICAR EL ESFUERZO MAS QUE PROGRESIVAMENTE Y EVENTUALMENTE UN REBORDE (21) LATERAL DE DETECCION DE OBSTACULOS. TODOS LOS MEDIOS CONTRIBUYEN A EXCLUIR APOYOS ARRIESGADOS.
ES93402696T 1992-11-05 1993-11-03 Pie de robot marchador. Expired - Lifetime ES2086907T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9213326A FR2697492B1 (fr) 1992-11-05 1992-11-05 Pied de robot marcheur.

Publications (1)

Publication Number Publication Date
ES2086907T3 true ES2086907T3 (es) 1996-07-01

Family

ID=9435258

Family Applications (1)

Application Number Title Priority Date Filing Date
ES93402696T Expired - Lifetime ES2086907T3 (es) 1992-11-05 1993-11-03 Pie de robot marchador.

Country Status (6)

Country Link
US (1) US5421426A (es)
EP (1) EP0596797B1 (es)
JP (1) JPH06198582A (es)
DE (1) DE69301807T2 (es)
ES (1) ES2086907T3 (es)
FR (1) FR2697492B1 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112298397A (zh) * 2020-11-03 2021-02-02 武汉理工大学 一种适用于全地形路况的轮步式机器人足端机构

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3330710B2 (ja) * 1993-12-30 2002-09-30 本田技研工業株式会社 移動ロボットの位置検知および制御装置
US5758734A (en) * 1996-01-19 1998-06-02 Korea Institute Of Science And Technology Foot system for jointed leg type walking robot
KR100529287B1 (ko) 1998-06-09 2005-11-17 소니 가부시끼 가이샤 로봇 장치 및 그 자세 제어 방법
JP2001239479A (ja) * 1999-12-24 2001-09-04 Sony Corp 脚式移動ロボット及びロボットのための外装モジュール
US6443993B1 (en) * 2001-03-23 2002-09-03 Wayne Koniuk Self-adjusting prosthetic ankle apparatus
JP4733317B2 (ja) * 2001-08-28 2011-07-27 本田技研工業株式会社 脚式歩行ロボットの床反力検出器
JP3598507B2 (ja) * 2002-06-12 2004-12-08 独立行政法人 科学技術振興機構 歩行式移動装置及びその歩行制御装置及び歩行制御方法
KR100541433B1 (ko) * 2002-12-23 2006-01-11 삼성전자주식회사 ２족보행로봇
KR100499143B1 (ko) * 2003-02-27 2005-07-04 삼성전자주식회사 보행 로봇의 지면 반력 측정 모듈 및 이를 장착한 로봇 발구조물
JP4495549B2 (ja) * 2004-08-30 2010-07-07 本田技研工業株式会社 脚式移動ロボット
CN1294045C (zh) * 2004-09-09 2007-01-10 上海交通大学 足部浮动支撑的四足步行机器人的脚结构
CN102180206B (zh) * 2011-04-24 2012-07-04 杭州电子科技大学 一种具有柔性关节的机器人脚部机构
KR20130073591A (ko) * 2011-12-23 2013-07-03 삼성전자주식회사 지지모듈 및 이를 포함하는 로봇
CN102602464A (zh) * 2012-03-08 2012-07-25 东南大学 带有阻尼减震轮的小型履带侦察机器人
US9183346B2 (en) 2012-03-12 2015-11-10 Empire Technology Development Llc Robotic appendages
CN103204191B (zh) * 2013-03-11 2015-10-14 大连理工大学 一种机器人的足端机构
CN103434581B (zh) * 2013-08-08 2015-10-14 大连理工大学 一种机器人的脚掌机构
CN104627264B (zh) * 2014-12-04 2017-01-25 河海大学常州校区 柔性仿生机器人脚
US9994269B1 (en) 2015-11-12 2018-06-12 Schaft Inc. Rotatable extension for robot foot
US9821866B1 (en) 2015-11-12 2017-11-21 Schaft Inc. Rotatable robot foot with perpendicular soles
CN107284550B (zh) * 2017-06-09 2020-04-14 北京航空航天大学 一种重载轻质弹性机械足
CN107320182B (zh) * 2017-07-31 2021-03-30 成都博恩思医学机器人有限公司 用于手术台车底座的驱动轮组件及手术台车底座
WO2019041074A1 (zh) * 2017-08-27 2019-03-07 刘哲 一种抓地力强的行走机器人脚部装置
CN109969285B (zh) * 2019-03-07 2021-03-30 哈尔滨工业大学 机器人用流体万向柔顺与力传感掌
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
CN113511284B (zh) * 2021-07-30 2022-08-23 中国空空导弹研究院 一种四足机器人的足部结构
CN115285252B (zh) * 2022-08-30 2023-04-25 内蒙古第一机械集团股份有限公司 一种足式行走机器人十字万向节足部机构

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR379528A (fr) * 1907-07-04 1907-11-09 Henry Selby Hele Shaw Système de propulsion des véhicules de transport sur terre
JP2520019B2 (ja) * 1989-06-29 1996-07-31 本田技研工業株式会社 脚式移動ロボットの駆動制御装置
FR2653516B1 (fr) * 1989-10-20 1994-12-23 Commissariat Energie Atomique Transmission deformable a barres articulees et vehicule equipe de telles transmissions.
US5219410A (en) * 1989-10-20 1993-06-15 Commissariat A L'energie Atomique Device for transmitting movement between a solid and a member, in particular for a robot able to be moved on legs
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
JP2826858B2 (ja) * 1989-12-14 1998-11-18 本田技研工業株式会社 脚式歩行ロボットの足部構造

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112298397A (zh) * 2020-11-03 2021-02-02 武汉理工大学 一种适用于全地形路况的轮步式机器人足端机构
CN112298397B (zh) * 2020-11-03 2022-06-10 武汉理工大学 一种适用于全地形路况的轮步式机器人足端机构

Also Published As

Publication number Publication date
FR2697492B1 (fr) 1994-12-23
DE69301807T2 (de) 1996-10-02
EP0596797B1 (fr) 1996-03-13
JPH06198582A (ja) 1994-07-19
FR2697492A1 (fr) 1994-05-06
US5421426A (en) 1995-06-06
EP0596797A1 (fr) 1994-05-11
DE69301807D1 (de) 1996-04-18

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