JP2011521799A - 人型ロボットの足 - Google Patents
人型ロボットの足 Download PDFInfo
- Publication number
- JP2011521799A JP2011521799A JP2011512148A JP2011512148A JP2011521799A JP 2011521799 A JP2011521799 A JP 2011521799A JP 2011512148 A JP2011512148 A JP 2011512148A JP 2011512148 A JP2011512148 A JP 2011512148A JP 2011521799 A JP2011521799 A JP 2011521799A
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- JP
- Japan
- Prior art keywords
- foot
- jack
- toe
- sole
- actuator
- 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
- 210000003371 toe Anatomy 0.000 claims abstract description 61
- 210000002683 foot Anatomy 0.000 claims abstract description 54
- 210000003423 ankle Anatomy 0.000 claims abstract description 7
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 6
- 239000012530 fluid Substances 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Images
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
本発明によれば、足(10)は、足の裏(11)と、つま先(12)と、くるぶしから独立した足の裏(11)とつま先(12)との間の回転における動力化された連結部(13)であって、つま先(12)が連結部(13)の軸(14)周りの角度行程に従って動くことができる連結部と、連結部(13)の動力化を可能にするアクチュエータ(19)と、独立式にアクチュエータ(19)を制御する手段とを備える。
Description
足の裏(11)と、
つま先(12)と、
くるぶしから独立した、足の裏(11)とつま先(12)との間の回転における動力化された連結部(13)であって、つま先(12)が連結部(13)の軸(14)周りの角度行程に従って動くことができる連結部と、
連結部(13)の動力化を可能にするアクチュエータ(19)と、
独立式にアクチュエータ(19)を制御する手段と、
を備えることを特徴とする。
Claims (10)
- くるぶしを用いて脚部につながれ得る人型ロボットの足であって、
足の裏(11)と、
つま先(12)と、
くるぶしから独立した、前記足の裏(11)と前記つま先(12)との間の回転における動力化された連結部(13)であって、前記つま先(12)が前記連結部(13)の軸(14)周りの角度行程に従って動くことができる連結部と、
前記連結部(13)の動力化を可能にするアクチュエータ(19)と、
独立式に前記アクチュエータ(19)を制御する手段と、
を備えることを特徴とする足。 - 前記アクチュエータ(19)を制御する手段が、
前記連結部(13)の完全な固定と、
前記連結部(13)の角度行程の関数である復元トルクと、
前記連結部(13)の回転の減衰と、
前記連結部(13)の回転中に動力を加えることと、
から状態を選択するのを可能にすることを特徴とする、請求項1に記載の足。 - 前記連結部(13)が、前記足(10)の矢状面内で、前記足の裏(11)に対する前記つま先(12)の回転を可能にすることを特徴とする、請求項1あるいは2のいずれか一項に記載の足。
- 前記アクチュエータが、前記足の裏(11)に固定された縦材(22)上、及び前記つま先(12)上に支持された直線状のジャッキ(19)で形成され、前記ジャッキ(19)が前記足の矢状面内に含まれる軸(23)に従う運動を行うことを特徴とする、請求項1〜3のいずれか一項に記載の足。
- 前記つま先(12)が前記足の裏(11)と一列に並ぶとき、前記つま先(12)が前記足の裏11の主平面の下に下げられることを可能にするように、前記ジャッキの軸(23)が前記足の裏(11)の主平面に対して傾いていることを特徴とする、請求項4に記載の足。
- 縦材(22)上の前記ジャッキ(19)の支持面が、前記ジャッキ(19)の前記軸(23)及び、前記連結部(13)と前記つま先(12)における前記ジャッキ(19)の支持面とをつないでいる軸(18)が一点に集中するのを保つように、その中に前記足の裏(11)が主として延びる平面(17)の上部に位置することを特徴とする、請求項4あるいは5のいずれか一項に記載の足。
- 前記ジャッキ(19)が電気式又は油圧式であることを特徴とする、請求項4〜6のいずれか一項に記載の足。
- 前記ジャッキ(19)が、前記つま先(12)を下降又は上昇させることを可能にする複動式ジャッキであることを特徴とする、請求項4〜7のいずれか一項に記載の足。
- 前記ジャッキ(19)が、前記つま先(12)を下降させるため、それらを押すように設計された単動式ジャッキであることを特徴とする、請求項4〜7のいずれか一項に記載の足。
- 請求項1〜9のいずれか一項に記載の、少なくとも1つの足(10)を備えることを特徴とする、人型ロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0853713A FR2932110B1 (fr) | 2008-06-05 | 2008-06-05 | Pied pour robot humanoide |
FR0853713 | 2008-06-05 | ||
PCT/EP2009/056965 WO2009147243A1 (fr) | 2008-06-05 | 2009-06-05 | Pied pour robot humanoïde |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011521799A true JP2011521799A (ja) | 2011-07-28 |
JP5987316B2 JP5987316B2 (ja) | 2016-09-07 |
Family
ID=40193700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011512148A Expired - Fee Related JP5987316B2 (ja) | 2008-06-05 | 2009-06-05 | 人型ロボットの足 |
Country Status (6)
Country | Link |
---|---|
US (1) | US8403081B2 (ja) |
EP (1) | EP2321170B1 (ja) |
JP (1) | JP5987316B2 (ja) |
ES (1) | ES2391612T3 (ja) |
FR (1) | FR2932110B1 (ja) |
WO (1) | WO2009147243A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012016782A (ja) * | 2010-07-08 | 2012-01-26 | National Institute Of Advanced Industrial Science & Technology | 人間型歩行ロボット用脚とその足 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
CN105034021A (zh) * | 2015-06-23 | 2015-11-11 | 余姚市天科机器人科技有限公司 | 一种机械手扁平不旋转侧姿机构 |
US10384357B2 (en) | 2015-09-08 | 2019-08-20 | The Johns Hopkins University | Rigid temporary attachment device for a robotic gripper |
CN106965870B (zh) * | 2017-04-12 | 2019-01-15 | 华中科技大学 | 一种液压驱动柔性机器人关节 |
CN107128391B (zh) * | 2017-05-04 | 2019-01-22 | 河海大学常州校区 | 一种具有可卷绕脚蹼的机器人脚掌 |
CN109292021B (zh) * | 2018-10-09 | 2020-06-23 | 北京理工大学 | 具有变刚度脚趾脚跟关节的仿生足 |
CN109367645B (zh) * | 2018-11-13 | 2020-06-23 | 北京理工大学 | 一种缓冲增稳的仿人机器人足部机构 |
Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05293776A (ja) * | 1992-04-20 | 1993-11-09 | Honda Motor Co Ltd | 脚式歩行ロボットの足部構造 |
JPH05318337A (ja) * | 1992-05-20 | 1993-12-03 | Honda Motor Co Ltd | 脚式歩行ロボットの足平構造 |
JPH06254783A (ja) * | 1993-01-13 | 1994-09-13 | Eastman Kodak Co | 円筒の把持、移送装置 |
JPH07206394A (ja) * | 1994-01-21 | 1995-08-08 | Sanko Seisakusho:Kk | 流体ジヤッキ |
JPH08165673A (ja) * | 1994-12-16 | 1996-06-25 | Mitsubishi Heavy Ind Ltd | 産業機械 |
JPH08256447A (ja) * | 1995-03-17 | 1996-10-01 | Toshiba Corp | 回転電機オーバーハングエキサイターベースの防震装置 |
JPH09193075A (ja) * | 1996-01-24 | 1997-07-29 | Mitsubishi Electric Corp | 可動ホルダー機構 |
JPH11320463A (ja) * | 1998-05-12 | 1999-11-24 | Sony Corp | 人工足部 |
JP2001098898A (ja) * | 1999-09-29 | 2001-04-10 | Ishikawajima Harima Heavy Ind Co Ltd | セグメント位置決め方法及び装置 |
JP2004167666A (ja) * | 2002-08-30 | 2004-06-17 | Sony Corp | ロボット装置及びその動作制御方法 |
JP2005153038A (ja) * | 2003-11-20 | 2005-06-16 | Sony Corp | 脚式移動ロボット、並びに脚式移動ロボットのための足部構造 |
JP2005271110A (ja) * | 2004-03-23 | 2005-10-06 | Honda Motor Co Ltd | 脚式移動ロボットおよびその制御装置 |
JP2009190168A (ja) * | 2008-02-13 | 2009-08-27 | Butler Engineering & Marketing Spa | 荷重物取扱装置 |
JP2009274142A (ja) * | 2008-05-12 | 2009-11-26 | Tokai Univ | 歩行ロボット |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5455497A (en) * | 1992-04-20 | 1995-10-03 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot and a system for controlling the same |
US6741911B2 (en) * | 2000-09-20 | 2004-05-25 | John Castle Simmons | Natural robot control |
JP4585252B2 (ja) * | 2004-08-13 | 2010-11-24 | ソニー株式会社 | ロボット装置及びロボット装置の歩行制御方法 |
KR100920224B1 (ko) * | 2007-12-11 | 2009-10-05 | 경상대학교산학협력단 | 인간형 로봇의 지능형 발 |
-
2008
- 2008-06-05 FR FR0853713A patent/FR2932110B1/fr not_active Expired - Fee Related
-
2009
- 2009-06-05 ES ES09757624T patent/ES2391612T3/es active Active
- 2009-06-05 US US12/996,474 patent/US8403081B2/en active Active
- 2009-06-05 EP EP09757624A patent/EP2321170B1/fr not_active Not-in-force
- 2009-06-05 WO PCT/EP2009/056965 patent/WO2009147243A1/fr active Application Filing
- 2009-06-05 JP JP2011512148A patent/JP5987316B2/ja not_active Expired - Fee Related
Patent Citations (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05293776A (ja) * | 1992-04-20 | 1993-11-09 | Honda Motor Co Ltd | 脚式歩行ロボットの足部構造 |
JPH05318337A (ja) * | 1992-05-20 | 1993-12-03 | Honda Motor Co Ltd | 脚式歩行ロボットの足平構造 |
JPH06254783A (ja) * | 1993-01-13 | 1994-09-13 | Eastman Kodak Co | 円筒の把持、移送装置 |
JPH07206394A (ja) * | 1994-01-21 | 1995-08-08 | Sanko Seisakusho:Kk | 流体ジヤッキ |
JPH08165673A (ja) * | 1994-12-16 | 1996-06-25 | Mitsubishi Heavy Ind Ltd | 産業機械 |
JPH08256447A (ja) * | 1995-03-17 | 1996-10-01 | Toshiba Corp | 回転電機オーバーハングエキサイターベースの防震装置 |
JPH09193075A (ja) * | 1996-01-24 | 1997-07-29 | Mitsubishi Electric Corp | 可動ホルダー機構 |
JPH11320463A (ja) * | 1998-05-12 | 1999-11-24 | Sony Corp | 人工足部 |
JP2001098898A (ja) * | 1999-09-29 | 2001-04-10 | Ishikawajima Harima Heavy Ind Co Ltd | セグメント位置決め方法及び装置 |
JP2004167666A (ja) * | 2002-08-30 | 2004-06-17 | Sony Corp | ロボット装置及びその動作制御方法 |
JP2005153038A (ja) * | 2003-11-20 | 2005-06-16 | Sony Corp | 脚式移動ロボット、並びに脚式移動ロボットのための足部構造 |
JP2005271110A (ja) * | 2004-03-23 | 2005-10-06 | Honda Motor Co Ltd | 脚式移動ロボットおよびその制御装置 |
JP2009190168A (ja) * | 2008-02-13 | 2009-08-27 | Butler Engineering & Marketing Spa | 荷重物取扱装置 |
JP2009274142A (ja) * | 2008-05-12 | 2009-11-26 | Tokai Univ | 歩行ロボット |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2012016782A (ja) * | 2010-07-08 | 2012-01-26 | National Institute Of Advanced Industrial Science & Technology | 人間型歩行ロボット用脚とその足 |
Also Published As
Publication number | Publication date |
---|---|
JP5987316B2 (ja) | 2016-09-07 |
US20110186362A1 (en) | 2011-08-04 |
FR2932110A1 (fr) | 2009-12-11 |
WO2009147243A1 (fr) | 2009-12-10 |
EP2321170B1 (fr) | 2012-08-01 |
ES2391612T3 (es) | 2012-11-28 |
US8403081B2 (en) | 2013-03-26 |
EP2321170A1 (fr) | 2011-05-18 |
FR2932110B1 (fr) | 2010-12-31 |
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