JP2001129774A5 - - Google Patents
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- Publication number
- JP2001129774A5 JP2001129774A5 JP1999315195A JP31519599A JP2001129774A5 JP 2001129774 A5 JP2001129774 A5 JP 2001129774A5 JP 1999315195 A JP1999315195 A JP 1999315195A JP 31519599 A JP31519599 A JP 31519599A JP 2001129774 A5 JP2001129774 A5 JP 2001129774A5
- Authority
- JP
- Japan
- Prior art keywords
- joints
- elbow
- knee
- link
- hip
- 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.)
- Granted
Links
- 210000002310 Elbow Joint Anatomy 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 210000001737 Ankle Joint Anatomy 0.000 description 2
- 210000000323 Shoulder Joint Anatomy 0.000 description 2
- 210000003857 Wrist Joint Anatomy 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 210000001503 Joints Anatomy 0.000 description 1
- 210000002414 Leg Anatomy 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Description
即ち、脚リンク２は、股関節（腰関節）１０Ｒ（Ｌ），１２Ｒ（Ｌ），１４Ｒ（Ｌ）、膝関節１６Ｒ（Ｌ）、足関節１８Ｒ（Ｌ），２０Ｒ（Ｌ）を備える。股関節と膝関節は大腿リンク２４Ｒ（Ｌ）で、膝関節と足関節は下腿リンク２６Ｒ（Ｌ）で連結される。
即ち、腕リンク５は、肩関節３０Ｒ（Ｌ），３２Ｒ（Ｌ），３４Ｒ（Ｌ）、肘関節３６Ｒ（Ｌ）、手首関節３８Ｒ（Ｌ），４０Ｒ（Ｌ），４２Ｒ（Ｌ）を備える。肩関節と肘関節は上腕リンク４６Ｒ，４６Ｌで、肘関節と手首関節は下腕リンク４８Ｒ，４８Ｌで連結される。
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31519599A JP4279425B2 (ja) | 1999-11-05 | 1999-11-05 | 脚式歩行ロボットの足部構造 |
| US09/636,750 US6377014B1 (en) | 1999-11-05 | 2000-08-11 | Legged walking robot |
| EP00308466A EP1097860B1 (en) | 1999-11-05 | 2000-09-27 | Legged walking robot |
| DE60007055T DE60007055T2 (de) | 1999-11-05 | 2000-09-27 | Schreitroboter mit Beinen |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31519599A JP4279425B2 (ja) | 1999-11-05 | 1999-11-05 | 脚式歩行ロボットの足部構造 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2001129774A JP2001129774A (ja) | 2001-05-15 |
| JP2001129774A5 true JP2001129774A5 (ja) | 2006-07-20 |
| JP4279425B2 JP4279425B2 (ja) | 2009-06-17 |
Family
ID=18062564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31519599A Expired - Lifetime JP4279425B2 (ja) | 1999-11-05 | 1999-11-05 | 脚式歩行ロボットの足部構造 |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US6377014B1 (ja) |
| EP (1) | EP1097860B1 (ja) |
| JP (1) | JP4279425B2 (ja) |
| DE (1) | DE60007055T2 (ja) |
Families Citing this family (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| JP3726058B2 (ja) * | 2001-12-28 | 2005-12-14 | 本田技研工業株式会社 | 脚式移動ロボットおよびその床反力検出装置 |
| JP3833567B2 (ja) * | 2002-05-01 | 2006-10-11 | 本田技研工業株式会社 | 移動ロボットの姿勢制御装置 |
| JP3646169B2 (ja) * | 2002-05-07 | 2005-05-11 | 独立行政法人産業技術総合研究所 | 脚式ロボットの歩行制御装置 |
| JP3938326B2 (ja) * | 2002-05-10 | 2007-06-27 | 川田工業株式会社 | ロボット用付加的支持構造 |
| 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 |
| JP4049644B2 (ja) * | 2002-09-13 | 2008-02-20 | 川田工業株式会社 | 歩行ロボットの衝撃吸収機構 |
| KR100499143B1 (ko) * | 2003-02-27 | 2005-07-04 | 삼성전자주식회사 | 보행 로봇의 지면 반력 측정 모듈 및 이를 장착한 로봇 발구조물 |
| KR20050005995A (ko) * | 2003-07-08 | 2005-01-15 | 삼성전자주식회사 | 2족 보행 이동 장치의 보행 제어 방법 |
| US7286964B2 (en) * | 2003-09-22 | 2007-10-23 | Advanced Structure Monitoring, Inc. | Methods for monitoring structural health conditions |
| US7668665B2 (en) * | 2003-09-22 | 2010-02-23 | Advanced Structure Monitoring, Inc. | Methods of networking interrogation devices for structural conditions |
| KR100571829B1 (ko) * | 2004-02-06 | 2006-04-17 | 삼성전자주식회사 | 구조체, 발 구조 및 이를 채용한 로봇 |
| KR100571839B1 (ko) * | 2004-03-31 | 2006-04-17 | 삼성전자주식회사 | 인간형 로봇 |
| JP4504768B2 (ja) | 2004-09-17 | 2010-07-14 | 本田技研工業株式会社 | 脚式移動ロボット |
| US7762362B2 (en) * | 2006-04-17 | 2010-07-27 | The Board Of Trustees Of The Leland Stanford Junior University | Climbing with dry adhesives |
| US20080297091A1 (en) * | 2007-05-31 | 2008-12-04 | Samsung Electronics Co., Ltd. | Foot of walking robot and walking robot having the same |
| JP4552037B2 (ja) | 2007-12-10 | 2010-09-29 | 本田技研工業株式会社 | ロボット |
| DE112010000035B4 (de) | 2009-08-03 | 2015-04-30 | Honda Motor Co., Ltd. | Roboter und Regelungs- /Steuerungssystem |
| JP5480799B2 (ja) * | 2010-12-14 | 2014-04-23 | 本田技研工業株式会社 | 移動装置およびロボットならびにこれらの制御システム |
| CN102582714B (zh) * | 2012-01-31 | 2013-08-07 | 山东大学 | 具有负重能力的液压驱动双足机器人下肢机构 |
| US9381961B1 (en) | 2014-09-04 | 2016-07-05 | Google Inc. | Robotic systems having protrusions for use in starting positions and in use positions |
| CN104973159B (zh) * | 2015-06-29 | 2017-07-25 | 重庆邮电大学 | 一种窄足3d纯被动行走器 |
| CN104973157A (zh) * | 2015-07-09 | 2015-10-14 | 大连理工大学 | 一种足式机器人足底快换机构 |
| KR101728604B1 (ko) | 2015-07-27 | 2017-04-20 | 성균관대학교산학협력단 | 불규칙한 바닥면에 적용 가능한 보행식 이동 로봇용 발 |
| US10160505B1 (en) * | 2016-04-06 | 2018-12-25 | Schaft Inc. | Variable-compliance, slip-resistant foot for legged mechanisms |
| CN109850025B (zh) * | 2019-02-26 | 2020-09-04 | 浙江大学 | 一种墙面跳跃的单腿机器人机构及控制方法 |
| KR102494054B1 (ko) | 2021-03-23 | 2023-01-31 | 국민대학교산학협력단 | 로봇용 가변 강성 발바닥 |
| CN113183131B (zh) * | 2021-04-23 | 2023-10-03 | 中国科学院深圳先进技术研究院 | 一种具有双柔性驱动分支的外骨骼机器人踝关节 |
| US11738452B1 (en) * | 2022-07-29 | 2023-08-29 | Sarcos Corp. | Sole with various compliant regions for robots |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4051623A (en) * | 1976-06-09 | 1977-10-04 | Takara Co., Ltd. | Mobile reconfigurable robot toy |
| 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 |
| US5255753A (en) * | 1989-12-14 | 1993-10-26 | Honda Giken Kogyo Kabushiki Kaisha | Foot structure for legged walking robot |
| US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
| US5416393A (en) * | 1992-05-20 | 1995-05-16 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot foot structure |
| JP3278467B2 (ja) * | 1992-08-18 | 2002-04-30 | 本田技研工業株式会社 | 移動ロボットの制御装置 |
| US5808433A (en) * | 1995-09-29 | 1998-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Method of generating gait of legged walking robot and system for controlling its locomotion |
| JP3662996B2 (ja) * | 1996-01-25 | 2005-06-22 | 本田技研工業株式会社 | 脚式移動ロボットの歩行制御装置 |
| JP3626303B2 (ja) * | 1996-12-18 | 2005-03-09 | 本田技研工業株式会社 | 脚式移動ロボットの足底接地位置検出装置 |
| 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 |
-
1999
- 1999-11-05 JP JP31519599A patent/JP4279425B2/ja not_active Expired - Lifetime
-
2000
- 2000-08-11 US US09/636,750 patent/US6377014B1/en not_active Expired - Lifetime
- 2000-09-27 DE DE60007055T patent/DE60007055T2/de not_active Expired - Fee Related
- 2000-09-27 EP EP00308466A patent/EP1097860B1/en not_active Expired - Lifetime
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