JP2013248699A - 脚式ロボットの下肢構造及び脚式ロボット - Google Patents
脚式ロボットの下肢構造及び脚式ロボット Download PDFInfo
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- JP2013248699A JP2013248699A JP2012124511A JP2012124511A JP2013248699A JP 2013248699 A JP2013248699 A JP 2013248699A JP 2012124511 A JP2012124511 A JP 2012124511A JP 2012124511 A JP2012124511 A JP 2012124511A JP 2013248699 A JP2013248699 A JP 2013248699A
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- thigh
- joint
- hip joint
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- legged robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
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- 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
-
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
Abstract
【解決手段】脚式ロボットの下肢構造は、股関節本体18と、大腿部12aと、股関節本体18に大腿部12aを繋げる肩関節ジョイント22と、大腿部12aに連結される膝関節本体19と、を備える。一端部が股関節本体18又は股関節ジョイント22にピッチ軸の回りを回転可能に連結されると共に、他端部が膝関節本体19にピッチ軸の回りを回転可能に連結される大腿部補助リンク31を設ける。大腿部補助リンク31の一端部から他端部までの長さを膝関節アクチュエータ4によって伸縮させる。
【選択図】図4
Description
Claims (4)
- 股関節本体と、
大腿部と、
前記股関節本体に対して前記大腿部を少なくともピッチ軸の回りに回転可能に連結する股関節ジョイントと、
前記大腿部にピッチ軸の回りを回転可能に連結される膝関節本体と、
一端部が前記股関節本体又は前記股関節ジョイントにピッチ軸の回りを回転可能に連結されると共に、他端部が前記膝関節本体にピッチ軸の回りを回転可能に連結される大腿部補助リンクと、
前記大腿部補助リンクの前記一端部から前記他端部までの長さを伸縮させる膝関節アクチュエータと、を備える脚式ロボットの下肢構造。 - 前記股関節ジョイントは、前記股関節本体に前記大腿部を前記ピッチ軸及びロール軸の回りに回転可能に連結し、
前記大腿部と前記股関節本体との間には、前記股関節本体に対して前記大腿部を前記ピッチ軸及び前記前記ロール軸の回りに回転駆動させる股関節アクチュエータが架け渡されることを特徴とする請求項1に記載の脚式ロボットの下肢構造。 - 前記脚式ロボットはさらに、
前記膝関節本体に結合される下腿部と、
足首関節本体と、
前記下腿部に前記足首関節本体を少なくともピッチ軸の回りに回転可能に連結する足首関節ジョイントと、
一端部が前記下腿部にピッチ軸の回りを回転可能に連結されると共に、他端部が前記足首関節部にピッチ軸の回りを回転可能に連結される下腿部補助リンクと、
前記下腿部補助リンクの前記一端部から前記他端部までの長さを伸縮させる足首関節アクチュエータと、を備える脚式ロボットの下肢構造。 - 請求項1ないし3のいずれかに記載の脚式ロボットの下肢構造が組み込まれた脚式ロボット。
Priority Applications (6)
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JP2012124511A JP5976401B2 (ja) | 2012-05-31 | 2012-05-31 | 脚式ロボットの下肢構造及び脚式ロボット |
DE112013002741.0T DE112013002741T5 (de) | 2012-05-31 | 2013-04-11 | Untere Gliedmaßenstruktur für Laufroboter und Laufroboter |
US14/401,892 US9446514B2 (en) | 2012-05-31 | 2013-04-11 | Lower limb structure for legged robot, and legged robot |
PCT/JP2013/060940 WO2013179782A1 (ja) | 2012-05-31 | 2013-04-11 | 脚式ロボットの下肢構造及び脚式ロボット |
KR1020147036367A KR101979480B1 (ko) | 2012-05-31 | 2013-04-11 | 다리식 로봇의 하지 구조 및 다리식 로봇 |
CN201380028692.4A CN104349871B (zh) | 2012-05-31 | 2013-04-11 | 腿式机器人的下肢结构以及腿式机器人 |
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JP2013248699A5 JP2013248699A5 (ja) | 2015-07-09 |
JP5976401B2 JP5976401B2 (ja) | 2016-08-23 |
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JP (1) | JP5976401B2 (ja) |
KR (1) | KR101979480B1 (ja) |
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DE (1) | DE112013002741T5 (ja) |
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Also Published As
Publication number | Publication date |
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JP5976401B2 (ja) | 2016-08-23 |
CN104349871B (zh) | 2017-08-25 |
CN104349871A (zh) | 2015-02-11 |
DE112013002741T5 (de) | 2015-03-19 |
US9446514B2 (en) | 2016-09-20 |
US20150122559A1 (en) | 2015-05-07 |
KR101979480B1 (ko) | 2019-08-28 |
KR20150016362A (ko) | 2015-02-11 |
WO2013179782A1 (ja) | 2013-12-05 |
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