JP4044079B2 - Humanoid robot - Google Patents

Description

The present invention relates to a humanoid robot driven by artificial muscles.

As shown in FIG. 17, a conventional humanoid robot 100 includes a body 101, two legs 102L and 102R attached to both lower sides of the body 101, and legs attached to the lower ends of the legs 102L and 102R. The units 103L and 103R are included. In addition, knee portions 104L and 104R are provided between the leg portions 102L and 102R.
Here, the leg portions 102L and 102R respectively have six joint portions, that is, in order from the top, joint portions 105L and 105R for hip leg rotation with respect to the body 101, joint portions 106L and 106R in the waist roll direction, Joint portions 107L and 107R in the pitch direction, and joint portions 108L and 108R in the pitch direction of the knee portions 104L and 104R. Each of the joint portions 105L (R) to 108L (R) is constituted by a joint driving motor.

Also, the foot portions 103L and 103R are configured symmetrically with each other. For example, the left (right) foot portion 103L (R) is fixed to the lower end of the left (right) leg portion 102L (R). The base portion 109L (R) to be attached to the base, the flange portion 110L (R) fixedly disposed near the rear end of the base portion 109L (R), and the base portion 109L (R) substantially aligned forward. And a pair of foot tip portions 111L (R) and 112L (R) supported so as to be swingable in the vertical direction with respect to the base portion 109L (R). The base portion 109L (R) is configured by a link that is fixed horizontally in the horizontal direction at the lower end of the lower leg link 113L (R), and a pair of links are branched from the left and right ends of the base portion 109L (R). A pair of left and right foot tips 111L (R) and 112L (R) are connected to the lower end via two joint drive motors 114L (R) and 115L (R), respectively.

In this way, the hip joint is composed of the joint portions 105L, 105R, 106L, 106R, 107L, and 107R, and the ankle joint is composed of joint drive motors 114L, 114R, 115L, and 115R. . Further, the hip joint and the joint portions 108L and 108R are connected by thigh links 116L and 116R.
As a result, the left and right leg portions 102L and 102R and the foot portions 103L and 103R of the humanoid robot 100 are each given six degrees of freedom, and the leg portion 102L (102R) and the foot portion 103L (103R) during walking. By driving and controlling the six joints provided in each at an appropriate angle by a drive motor, it is possible to walk by giving an action linked to the legs 102L and 102R and the legs 103L and 103R ( For example, see Patent Document 1).

JP 2004-90194 A

However, in the humanoid robot 100 described in Patent Document 1, since each joint portion is constituted by a drive motor, the weight of each joint portion becomes heavy, and the body 101, the leg portion 102L, The 102R, the knee portions 104L and 104R, and the foot portions 103L and 103R need to be made of a material having high strength and rigidity, such as iron. For this reason, the weight of the humanoid robot 100 as a whole has increased, and it has been difficult to smoothly and continuously perform operations with high responsiveness such as running and jumping and various operations.
Further, since the weight is large, when the humanoid robot 100 malfunctions and collides with an article existing in the surrounding area, there is a high possibility that the article is damaged. For this reason, there are significant restrictions on using the humanoid robot 100 for consumer use.

The present invention has been made in view of such circumstances, and an object thereof is to provide a humanoid robot capable of easily performing a highly responsive operation or a smooth continuous operation using an artificial muscle.

The humanoid robot according to claim 1, which meets the above-mentioned purpose, is attached to both the body skeleton and the lower side of the body skeleton using artificial muscles whose contraction amount changes according to the pressure of the fluid injected therein. In a humanoid robot having a lower limb skeleton and upper limb skeletons attached to both upper sides of the torso skeleton,
The lower limb skeleton includes a femur connected to an hip bone provided on the torso skeleton via a hip joint member, a tibial material connected to the femur material via a knee joint member, and the tibial material Having ankle aggregate connected via an ankle joint member,
The hip bone material is connected to the hip bone material via the hip joint member so as to be able to bend, tilt, and turn, and further, the hip joint member is located inside, and the hip bone material and the femur material are connected. A first and a second artificial muscle pair connected to each other and arranged in two different angular positions facing each other, each having the artificial muscle ;
The tibial material is rotatably connected to the femoral material via the knee joint member, and the hip bone material and the upper portion of the tibial material are opposed to each other with the knee joint member inside. Connected by a third artificial muscle pair comprising the artificial muscle,
The ankle material is connected to the tibial material via the ankle joint member so as to be able to bend, tilt, and turn, the lower part of the tibial material is connected to the ankle material, and the ankle joint member is centered. A fourth artificial muscle pair having the artificial muscles at the left and right positions thereof, and one connecting the rear lower part of the tibial material and the rear upper part of the foot bone material, and the other connecting the front upper part of the tibial material A fifth artificial muscle pair including the artificial muscle for connecting the front side of the foot aggregate is provided, and further, the artificial muscle for connecting the rear lower part of the femur and the rear lower part of the foot aggregate. It is equipped with a.

By injecting a fluid into each of the artificial muscles of the first and second artificial muscle pairs and contracting them, the hipbone material and the femur material connected via the hip joint members are drawn into a tensioned state, and the hipbone The femur connected to the material can be adjusted to an angle. And by further changing the balance of the tension state of each artificial muscle arranged facing each other with the hip joint member inward, the femur connected at a certain angle to the hip bone through the hip joint, Can be bent, tilted and swiveled.
By contracting each artificial muscle of the third artificial muscle pair, the femoral material and tibial material to be connected via the knee joint member are drawn into tension, and the angle of the tibial material to be connected to the femoral material is adjusted. can do. Then, by further changing the balance of the tension state of each artificial muscle of the third artificial muscle pair arranged opposite to each other, the tibial material connected at an angle with respect to the femoral material is passed through the knee joint member. While being able to rotate (bend), the tibial material can be moved in conjunction with the movement of the femoral material.
By injecting a fluid into each of the artificial muscles constituting the fourth and fifth artificial muscle pairs and contracting them, the tibial material and the foot bone material connected through the ankle joint member are drawn into a tension state, The foot aggregate connected to the tibial aggregate can be adjusted to an angle. Then, by further changing the balance of the tension state of each artificial muscle, the ankle material connected to the tibia material at an angle can be bent, inclined, and turned through the ankle joint member.
Furthermore, by changing the balance of the tension state of the artificial muscle that connects the lower back of the femur and the lower back of the foot aggregate, the foot aggregate can be moved in conjunction with the movement of the femur. it can.

The humanoid robot according to a second aspect of the present invention is the humanoid robot according to the first aspect, wherein the first and second artificial muscle pairs are respectively in a front-rear position and a left-right position of the hip joint member when the humanoid robot is in an upright state. Is provided.

Humanoid robot according to claim 3, wherein, in the humanoid robot according to claim 1, wherein the upper limb skeleton, a humerus member connected via the shoulder joint member clavicle material provided on the body framework, humeral Having ribs connected to the material via elbow joint members,
The clavicle is connected to the humerus via the shoulder joint so that the humerus can be bent, tilted, and swiveled. The sixth and seventh artificial muscle pairs each having the artificial muscles are connected to each other and arranged at two different angular positions facing each other.

By contracting each artificial muscle of the sixth and seventh artificial muscle pairs, the clavicle and humerus aggregates connected via the shoulder joint members are drawn into a tension state and the humerus connected to the clavicle. The material can be adjusted to an angle. Then, by further changing the balance of the tension state of each artificial muscle arranged facing each other with the shoulder joint member inward, the humeral aggregate connected to the clavicle at an angle is passed through the shoulder joint member. Can be bent, tilted and swiveled.

The humanoid robot according to claim 4 is the humanoid robot according to claim 3 , wherein the rib is rotatably connected to the humeral aggregate via the elbow joint member, and the end of the clavicle and the rib An upper part of the material is connected, and an eighth artificial muscle pair provided with the artificial muscle is provided so as to face each other with the elbow joint member inside.

By contracting each artificial muscle of the eighth artificial muscle pair, the humerus and ribs connected via the elbow joint members are pulled into tension and the angle of the ribs connected to the humerus is adjusted. can do. Then, by further changing the balance of the tension state of the artificial muscles of the eighth artificial muscle pair arranged opposite to each other, the ribs connected to the humerus aggregate at an angle are connected via the elbow joint members. While being able to rotate (bend), the rib aggregate can be moved in conjunction with the movement of the humeral aggregate.

The humanoid robot according to claim 5 is the humanoid robot according to claims 3 and 4 , wherein the hip joint member, the knee joint member, the ankle joint member, the shoulder joint member, and the elbow joint member detect inclination. An angle sensor is provided.
Thereby, a position can be calculated | required from the inclination of each joint member in three dimensions, and the position of each connected aggregate can be calculated | required.

The humanoid robot according to claim 6 is the humanoid robot according to any one of claims 3 to 5 , wherein a skull is connected to a central portion of the clavicle so as to be inclined and rotatable via a cervical spine member. ,
One of the cervical spine member and the clavicle aggregate connects the front upper part of the cervical spine member and the front side of the clavicular aggregate, and the other connects the rear upper part of the cervical spine member and the rear side of the clavicular aggregate. One of the nine artificial muscle pairs having the cervical spine member and the left front side of the clavicle member, and the other link the right front lower portion of the cervical member and the right front side of the clavicle. A tenth artificial muscle pair including the artificial muscle, and one of the lower left side lower part of the cervical spine member and the left rear side of the clavicle material is connected, and the other is a lower right rear lower part of the cervical spine member. An eleventh artificial muscle pair including the artificial muscle connecting the right rear side of the clavicle is provided.

By contracting each of the artificial muscles of the ninth to eleventh artificial muscle pairs, the clavicular material and the cranial material connected via the cervical spine member are drawn into a tension state, and the angle of the cranial material connected to the clavicular material is adjusted. can do. Then, by further changing the balance of the tension state of each of the artificial muscles of the ninth to eleventh artificial muscle pairs, the skull material connected at a certain angle with respect to the clavicle material is tilted back and forth and right and left through the cervical spine member. Or can be rotated.

Humanoid robot according to claim 7, wherein, in the humanoid robot according to claim 1-6, wherein the artificial muscle is to stretch by the fluid supplied from the fluid supply means via a pressure control means, the length change To do.
When an artificial muscle is expanded, its surface area is unlikely to increase. For example, if it is mainly composed of a rubber material such as silicone rubber, the cross-sectional area of the artificial muscle increases when a fluid is injected into the artificial muscle to expand it. The length is shortened. As a result, the artificial muscle can be contracted. When the pressure of the fluid to be injected is adjusted, the amount of expansion of the artificial muscle changes, and the length of the artificial muscle changes. Thereby, the artificial muscle can be further contracted or the contraction can be partially recovered.

The humanoid robot according to claim 8 is the humanoid robot according to claim 7 , wherein the fluid is air. By using air as the fluid, the fluid can be easily obtained and handled.

The humanoid robot according to claim 9 is the humanoid robot according to claim 8 , wherein the fluid supply means is a portable compressed air tank. As a result, the fluid supply means can be mounted on the humanoid robot, and the degree of freedom in the movement of the humanoid robot can be improved.

A humanoid robot according to a tenth aspect of the present invention is the humanoid robot according to any one of the first to ninth aspects, wherein the foot bone material is provided with a pressure sensor that detects a pressure applied to the foot bone material. As a result, when the humanoid robot moves, it is possible to obtain the forces acting on the foot bone material and the moving surface.

In the humanoid robot according to any one of claims 1 to 10 , the tension state of each artificial muscle of the first and second artificial muscle pairs arranged facing each other with a hip joint member connecting the hip bone and the femur aggregate inward. By changing the balance, it is possible to bend, tilt, and turn the femoral aggregate with respect to the hip bone without providing a drive source (for example, a drive motor) that moves the femoral aggregate to the hip joint member. become. As a result, it is possible to reduce the weight of the torso skeleton equipped with the hip bone material that supports the hip joint member, and it is possible to increase the responsiveness of the operation of the humanoid robot and easily perform the operation requiring instantaneous force. Become.
By changing the balance of the tension state of each of the artificial muscles of the third artificial muscle pair, the tibia with respect to the femur can be provided without providing a drive source (for example, a drive motor) for moving the tibia to the knee joint member. The material can be rotated. As a result, it is possible to reduce the weight of the femoral material that supports the knee joint member, increase the responsiveness of the operation of the femoral material, and easily perform an operation that requires instantaneous force. Further, the tibial material can be moved in cooperation with the movement of the femoral material, and the tibial material can be smoothly operated.
By changing the balance of the tension state of the artificial muscles constituting each of the fourth and fifth artificial muscle pairs, the tibia can be provided without providing a driving source (for example, a driving motor) for moving the ankle material to the ankle joint member. It is possible to bend, incline, and turn the foot material relative to the material. As a result, the tibial material connected to the ankle joint member can be reduced in weight, the responsiveness of the operation of the tibial material can be improved, and the operation requiring instantaneous force can be easily performed. Furthermore, the foot aggregate can be moved in cooperation with the movement of the femoral aggregate, and the foot aggregate can be smoothly operated.

In particular, in the humanoid robot according to claim 2, the first and second artificial muscle pairs are provided at the front and rear positions and the left and right positions of the hip joint member when the humanoid robot is in an upright state. By changing the balance of the muscle tension state, the femur can be efficiently moved with respect to the hip bone via the hip joint member.

In the humanoid robot according to claim 3 , a driving source for moving the humeral aggregate to the shoulder joint member by changing the balance of the tension state of each artificial muscle of the sixth and seventh artificial muscle pairs (for example, driving) Even without a motor), the humeral aggregate can be bent, tilted and swiveled with respect to the clavicular aggregate. As a result, it is possible to reduce the weight of the torso skeleton equipped with the clavicle material that supports the shoulder joint member, and it is possible to improve the responsiveness of the operation of the humanoid robot and easily perform the operation requiring instantaneous force. Become.

5. The humanoid robot according to claim 4 , wherein a drive source (for example, a drive motor) is provided to move the rib material to the elbow joint member by changing the balance of the tension state of each artificial muscle of the eighth artificial muscle pair. Even if it is not, it becomes possible to rotate the rib aggregate with respect to the humeral aggregate. As a result, it is possible to reduce the weight of the humeral aggregate that supports the elbow joint member, to increase the responsiveness of the operation of the humeral aggregate, and to easily perform an operation that requires instantaneous force. Further, the rib aggregate can be moved in cooperation with the movement of the humerus aggregate, and the rib aggregate can be smoothly operated.

In the humanoid robot according to claim 5 , since the hip joint member, the knee joint member, the ankle joint member, the shoulder joint member, and the elbow joint member are provided with angle sensors for detecting inclination, each joint member in three dimensions The position of each aggregate connected to each joint member can be obtained from the inclination of the angle, and it is possible to accurately perform complicated operations while controlling the posture.
The humanoid robot according to claim 6 , wherein a driving source (for example, a driving motor) that moves the skull material to the cervical spine member by changing the balance of the tension state of each of the artificial muscles of the ninth to eleventh artificial muscle pairs, respectively. It is possible to incline and rotate the skull aggregate with respect to the clavicle aggregate even without providing. As a result, it is possible to reduce the weight of the torso skeleton by reducing the weight of the clavicle that supports the cervical spine member, increasing the responsiveness of the operation of the humanoid robot, and easily performing operations that require instantaneous force become.

In the humanoid robot according to claim 7 , since the artificial muscle constituting the artificial muscle pair expands and contracts by the fluid supplied from the fluid supply means via the pressure control means, and the length thereof changes. By adjusting the pressure of the fluid injected into the body, the contraction and recovery operations of the artificial muscle can be performed in cooperation with each other, and the smooth movement for each lower limb skeleton and upper limb skeleton and the lower limb skeleton and upper limb skeleton are coordinated. The operation can be performed.

In the humanoid robot according to the eighth aspect , since the fluid is air, the fluid can be easily obtained and handled, and the operation cost of the humanoid robot can be reduced.

In the humanoid robot according to claim 9 , since the fluid supply means is a portable compressed air tank, the degree of freedom of movement of the humanoid robot can be improved, and the humanoid robot can perform a faster and more complicated operation. Is possible.

In the humanoid robot according to claim 10 , since the foot bone material is provided with a pressure sensor that detects a pressure applied to the foot bone material, the foot bone material and the moving surface exert influence on each other when the humanoid robot moves. The matching force can be obtained, and the stepping force when the foot aggregate steps on the moving surface and the pressing force when pressing the foot aggregate against the moving surface can be adjusted. As a result, it is possible to reduce the impact force that the humanoid robot receives when moving.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
Here, FIGS. 1A and 1B are a front view and a left side view showing a skeleton of a humanoid robot according to an embodiment of the present invention, respectively, and FIGS. 2A and 2B are the same humanoid robot. FIGS. 3 (A) and 3 (B) are enlarged views showing the arrangement of artificial muscles around the hip joint member of the humanoid robot, and FIGS. 4 (A) and 4 (B) are respectively a rear view and a right side view showing the skeleton of FIG. Front and left views showing the placement of artificial muscles attached to the lower limb skeleton on the humanoid robot. FIGS. 5A and 5B are diagrams of artificial muscles attached to the upper limb skeleton and the humanoid robot, respectively. FIG. 6 is an enlarged view showing the arrangement of the artificial muscles around the knee joint member of the humanoid robot, and FIGS. 7A to 7C are the feet of the humanoid robot. FIGS. 8A and 8B are enlarged views showing the arrangement of artificial muscles around the shoulder joint member of the humanoid robot, and FIG. 9 shows the humanoid robot. FIG. 10 is an explanatory diagram showing an artificial muscle drive system attached to the humanoid robot, FIG. 11 is an explanatory diagram of the artificial muscle used in the humanoid robot, FIG. 12 is a flowchart when the humanoid robot performs biped walking, and FIGS. 13A to 13C are explanatory diagrams showing a series of movements of the lower limb skeleton when the humanoid robot performs biped walking. 14 is an explanatory diagram showing changes in the position of the foot bones when the humanoid robot walks on two legs, and FIGS. 15A to 15C and FIGS. 16A to 16C are the same humans. Id robot is an explanatory diagram showing a series of movements of the lower limb skeletal in performing bipedal walking.

As shown in FIGS. 1 (A), 1 (B), 2 (A), and 2 (B), a humanoid robot 10 according to an embodiment of the present invention is provided on a body skeleton 11 and on both sides of the lower part of the body skeleton 11. The lower limb skeleton 12 is attached, the upper limb skeleton 13 is attached to both upper sides of the trunk skeleton 11, and the head 14 is attached to the center of the upper end of the trunk skeleton 11.
Here, each lower limb skeleton 12 attached to both lower sides of the trunk skeleton 11 and each upper limb skeleton 13 attached to both upper sides of the trunk skeleton 11 have symmetrical configurations. Only the upper limb skeleton 13 will be described.

The lower limb skeleton 12 includes a femur 18 attached to a hip bone member 15 provided on the trunk skeleton 11 via a hip joint member 16 having a ball joint, and a knee joint member 19 having a hinge joint to the femur 18. A tibial material 21 connected through a thighbone material 21 and a thighbone material 24 connected through a ankle joint member 22 having a ball joint.
The upper limb skeleton 13 is attached to a clavicle 25 provided on the trunk skeleton 11 via a shoulder joint member 26 having a ball joint, and an elbow joint member 29 having a hinge joint on the humeral bone 28. And has a rib 31 to be connected.
Further, the upper limb skeleton 13 has a hand bone material 33 connected to the rib material 31 through a wrist joint member 32. Further, the head 14 has a skull 35 attached to the central part of the upper end of the collar 25 through a cervical spine member 34.

As shown in FIGS. 3 (A), 3 (B), 4 (A), 4 (B), 5 (A), and 5 (B), in the humanoid robot 10 in an upright state, the front and rear positions of the hip joint member 16 and In the left and right positions, artificial muscles 36 and 37 constituting the first artificial muscle pair 17 and the second artificial muscle pair 17a that connect the hipbone member 15 and the femur material 18 with the hip joint member 16 inside. The constituting artificial muscles 38 and 39 are arranged.
Here, the amount of contraction of each of the artificial muscles 36 to 39 changes according to the pressure of air, which is an example of the fluid injected into the interior. Further, a gyroscope, which is an example of an angle sensor, is provided on the connection side of the hip joint member 16 with the femoral material 18. Thereby, the inclination of the femur 18 with respect to the hip bone 15 can be known.

Further, as shown in FIGS. 6, 4 (A), (B), 5 (A), and (B), the hip bone material 15 and the upper part of the tibial material 21 are arranged with the knee joint member 19 inside. The artificial muscles 40 and 41 constituting the third artificial muscle pair 20 arranged to face each other are connected. Further, a gyroscope that is an example of an angle sensor is provided on the side of the knee joint member 19 that is connected to the tibial material 21. Thereby, the inclination of the tibial material 21 with respect to the femoral material 18 can be known.

With such a configuration, the femoral material 18 is bent and inclined by a predetermined angle with respect to the hip bone material 15 by contracting and recovering the artificial muscles 36 to 39 in cooperation with each other, The femur 18 can be turned with respect to the hip bone 15.
Further, by contracting and recovering the artificial muscles 40 and 41 in cooperation with each other, the tibial material 21 can be rotated by a predetermined angle with respect to the femoral material 18 via the knee joint member 19. Further, by contracting and recovering the artificial muscles 36 to 41 in cooperation with each other, the tibial material 21 can be rotated by a predetermined angle in cooperation with the operation of the femoral material 18.

7 (A) to (C), FIGS. 4 (A), 4 (B), 5 (A), and 5 (B), an ankle joint member is provided between the lower portion of the tibial material 21 and the foot bone material 24. Artificial muscles 42 and 43 constituting the fourth artificial muscle pair 23 are arranged on the left and right of the center 22 with the ankle joint member 22 at the center. In addition, before and after the ankle joint member 22, an artificial muscle 44 that connects the lower rear side of the tibial material 21 and the upper rear side of the foot bone material 24, and the upper front side of the tibial material 21 and the front side of the foot bone material 24 are connected. A fifth artificial muscle pair 23a composed of the artificial muscle 45 is arranged. Further, a gyroscope that is an example of an angle sensor is provided on the side of the ankle joint member 22 that is connected to the ankle material 24.
Thereby, the inclination of the foot bone material 24 with respect to the tibial material 21 can be known. Furthermore, on the bottom surface side of the foot aggregate 24, for example, a pressure sensor including a piezoelectric body is provided. Thereby, the force received from the moving surface when the foot aggregate 24 comes into contact with the moving surface can be obtained.

Further, as shown in FIGS. 7C, 4A, 4B, 5A, and 5B, on the back side of the ankle joint member 22, the lower back side of the femoral bone 18 is provided. And an artificial muscle 46 for connecting the lower rear side of the foot aggregate 24 is disposed.
By adopting such a configuration, the artificial muscles 42 to 45 are contracted and recovered in cooperation with each other, so that the foot bone material 24 is bent and inclined with respect to the tibial material 21 by a predetermined angle, or the tibial material. The foot aggregate 24 can be turned with respect to 21. Further, by contracting and recovering the artificial muscles 36 to 46 in cooperation with each other, the foot bone material 24 can be moved in cooperation with the operations of the femoral material 18 and the tibial material 21.

As shown in FIGS. 8A, 8B, 4A, 4B, 5A, and 5B, the shoulder joint member 26 of the upper limb skeleton 13 of the humanoid robot 10 is disposed around the shoulder joint member 26. With the shoulder joint member 26 inside, the end of the clavicle 25 and the upper part of the humerus aggregate 28 are connected, and the artificial muscles constituting the sixth artificial muscle pair 30 arranged at two different angular positions facing each other are connected. Muscles 47 and 48 and artificial muscles 49 and 50 constituting the seventh artificial muscle pair 30a are arranged.
Further, a gyroscope, which is an example of an angle sensor, is provided on the connection side with the humeral aggregate 28 of the shoulder joint member 26. Thereby, the inclination of the humeral aggregate 28 with respect to the collar aggregate 25 can be known.

Further, as shown in FIGS. 9, 4 (A), (B), 5 (A), and (B), the end of the clavicle 25 and the upper part of the rib 31 have the elbow joint member 29 inside. Thus, the artificial muscles 51 and 52 constituting the eighth artificial muscle pair 30b arranged opposite to each other are connected. Further, a gyroscope, which is an example of an angle sensor, is provided on the connection side of the elbow joint member 29 with the rib material 31. Thereby, the inclination of the rib 31 with respect to the humerus 28 can be known.
With this configuration, the artificial muscles 47 to 50 are contracted and recovered in cooperation with each other, so that the humerus 28 is bent and inclined by a predetermined angle with respect to the clavicle 25 or the clavicle. The humerus material 28 can be turned with respect to the material 25. Further, by contracting and recovering the artificial muscles 51 and 52 in cooperation with each other, the rib 31 can be rotated by a predetermined angle with respect to the humerus 28 via the elbow joint member 29. And the rib 31 can be bent in cooperation with the operation | movement of the humerus 28 by contracting and recovering each artificial muscle 47-52 mutually.

As shown in FIGS. 4A, 4B, 5A, and 5B, the front and back of the cervical spine member 34 (that is, the front upper portion of the cervical spine member 34 and the front side of the clavicle 25 are connected to each other, thereby 34) and the artificial muscles 65 and 66 of the ninth artificial muscle pair 64 are arranged with the cervical spine member 34 at the center. Further, on the left and right front sides of the cervical spine member 34, an artificial muscle 67 that connects the left front lower portion of the cervical spine member 34 and the left front side of the clavicle 25, and the right front lower portion of the cervical spine member 34 and the right front side of the clavicle 25 are connected. A tenth artificial muscle pair 69 composed of the artificial muscle 68 is arranged.
On the left and right rear sides of the cervical spine member 34, an artificial muscle 70 that connects the lower left rear side of the cervical spine member 34 and the left rear side of the clavicle 25, the lower right rear side of the cervical spine member 34, and the rear right side of the collarbone 25 An eleventh artificial muscle pair 72 made up of artificial muscles 71 are arranged.
With such a configuration, the artificial muscles 65 to 68 are contracted and recovered in cooperation with each other, so that the skull 35 connected to the clavicle 25 at an angle is moved back and forth via the cervical spine member 34. Can be tilted left and right. Furthermore, the skull 35 can be rotated with respect to the clavicle 25 via the cervical spine member 34 by contracting and recovering the artificial muscles 70 and 71 in cooperation with each other.

As shown in FIG. 10, each of the artificial muscles 36 to 52, 65 to 68, 70 and 71 is expanded and contracted by air supplied from an air compressor 56 which is an example of a fluid supply unit via a pressure control unit 55. , Its length changes.
Here, the pressure control means 55 drives each artificial muscle 36-52, 65-68, 70, 71 provided in each lower limb skeleton 12 and each upper limb skeleton 13 of the humanoid robot 10 to execute a predetermined operation. Therefore, an air pressure determiner 57 is provided which calculates a time change of the air pressure necessary for the purpose and outputs a signal of a necessary air pressure value for each of the artificial muscles 36 to 52, 65 to 68, 70 and 71. Further, the pressure control means 55 is an air inflow valve that distributes the air generated by the air compressor 56 to the artificial muscles 36 to 52, 65 to 68, 70, 71, and the artificial muscles 36 to 52, 65 to 68, An air release valve for releasing excess air from 70 and 71, and an air inflow based on an output signal from the air pressure determiner 57 by detecting the air pressure in each of the artificial muscles 36 to 52, 65 to 68, 70 and 71 An air pressure adjusting unit 58 having a pressure regulator for operating the valve and the air release valve is provided. The air pressure determiner 57 can be configured using a computer, for example.

Here, the air compressor 56, the air pressure determiner 57, and the air pressure adjustment unit 58 are operated by electric power supplied from the power supply unit 59, and the air generated by the air compressor 56 is air pressure via the air supply pipe 60. The air supplied to the adjusting unit 58 and regulated by the air pressure adjusting unit 58 for each of the artificial muscles 36 to 52, 65 to 68, 70 and 71 is supplied to the artificial muscles 36 to 52 and 65 to 68 via the air distribution pipes 61. , 70, 71.
Moreover, as shown in FIG. 11, the artificial muscles 36 to 52, 65 to 68, 70, and 71 are formed of, for example, silicone rubber and have a tube shape with both ends closed, and each end has a metal fitting. 63 is fixed. Then, for example, vinyl tube-made air distribution piping 61 and an attachment portion 62 are provided at one end portion, and the attachment portion 62 is provided at the other end portion. Thus, the artificial muscles 36 to 52, 65 to 68, 70, and 71 can be fixed to the aggregates by attaching the attachment portions 62 to predetermined positions of the aggregates.

Furthermore, when air is supplied from the air distribution pipe 61 provided in the artificial muscles 36 to 52, 65 to 68, 70, and 71 to increase the air pressure inside the artificial muscles 36 to 52, 65 to 68, 70, and 71. The artificial muscles 36 to 52, 65 to 68, 70, and 71 are expanded, and the cross-sectional area of the artificial muscles 36 to 52, 65 to 68, 70, and 71 is increased, so that the length is shortened (contracted). As a result, each aggregate can be drawn into a tension state via the attachment portion 62.
Further, when the air pressure inside the artificial muscles 36-52, 65-68, 70, 71 is lowered to reduce the expansion amount of the artificial muscles 36-52, 65-68, 70, 71, the artificial muscles 36-52, The lengths of 65 to 68, 70, and 71 are recovered, and the aggregates can be loosened through the attachment portions 62 to be in a relaxed state.

Next, an operation method of the humanoid robot 10 according to an embodiment of the present invention will be described.
In the humanoid robot 10 before being activated, the lower limb skeleton 12 includes the hip bone material 18 and the thigh bone material 18 via the hip joint member 16, the femur material 18 and the tibial material 21 via the knee joint member 19, and the tibial material. 21 and the foot bone material 24 are connected to each other via the ankle joint member 22 but are in a relaxed state. The upper limb skeleton 13 is composed of the collar bone material 25 and the humerus bone material 28 via the shoulder joint member 26. The humerus material 28 and the rib material 31 are connected to each other through the elbow joint member 29, but are in a relaxed state. Further, the skull 35 is connected to the clavicle 25 via the cervical spine member 34, but is in a relaxed state. For this reason, the humanoid robot 10 cannot take a self-supporting posture, and is in a lying state, for example.

Therefore, air is injected into each of the artificial muscles 36 to 52, 65 to 68, 70, and 71 of the humanoid robot 10 to contract the artificial muscles 36 to 52, 65 to 68, 70, and 71, and the humanoid robot 10 in a lying state. To take a predetermined initial position (home position). Then, each lower limb skeleton 12 and each upper limb are further contracted or recovered by further contracting or restoring a part of each of the artificial muscles 36 to 52, 65 to 68, 70, and 71 that are contracted to maintain the home position. Each of the skeletons 13 is individually moved to cause the humanoid robot 10 to execute a specific operation.
The home position is not particularly specified, but it is preferable that the home position be able to smoothly shift to an operation to be performed by the humanoid robot 10 from now on.

Here, a method for performing bipedal walking will be described in detail as an example of an operation method of the humanoid robot 10. In bipedal walking of the humanoid robot 10, the upper limb skeleton 13 is linked with the operation of the lower limb skeleton 12. Since only the auxiliary motion of swinging back and forth via the shoulder joint member 26 is performed, only the operation of causing the lower limb skeleton 12 to perform biped walking will be described.
As shown in FIG. 12, the humanoid robot 10 performs a biped walking operation from a state where the foot bone materials 24 of the lower limb skeletons 12 are aligned and the home position in which the limbs 24 are maintained (step a-1) is left. The foot bone material 24 of the lower limb skeleton 12 is landed (step b-1) and the left foot bone material 24 is landed (step b-1). It has a series of steps to move one step before the left foot bone material 24 that has floated and landed (step b-2). Furthermore, the floated right foot bone material 24 is landed (step c-1), and the foot bone material 24 of the left limb skeleton 12 on the left side is floated and moved one step before the right foot bone material 24 landed. (C-2 process) It has a series of processes.

Here, by repeating the steps b-1 to c-2 a predetermined number of times, the humanoid robot 10 can be walked by two legs for a predetermined distance. The predetermined number of times is a value (L / d) obtained by dividing the distance L for walking the humanoid robot 10 by the provisional distance d for one step of the humanoid robot 10. Here, when the value (L / d) is an integer, the provisional distance d is set to the step length of one step of the humanoid robot 10, and when the value (L / d) is not an integer, the provisional distance adjusted to be an integer. Let d be the step length of one step of the humanoid robot 10.
Further, the biped walking operation of the humanoid robot 10 is performed by repeating the steps b-1 to c-2 for the set number of times, and then landing the left foot bone material 24 that has been floated (step d-1). ) The right foot skeleton 12 of the right limb skeleton 12 was moved to a position substantially aligned with the left foot skeleton 24 that was floated and landed (a half step before) (step d-2), and then floated. It has a series of operations for landing the right foot bone material 24 so as to align with the left foot bone material 24 (step e).

Subsequently, for each process, each operation of the femur 18, the tibial 21, and the foot 24 constituting the lower limb skeleton 12 and a method for driving the artificial muscles 36 to 46 that cause each operation will be described.
(Step a-1)
An air pressure determiner 57 is used to determine the pressure of air supplied to each of the artificial muscles 36 to 39 so that the femur 18 is disposed vertically on both sides of the hip bone 15 via the hip joint member 16. Air is supplied to each of the artificial muscles 36 to 39 via the air pressure adjusting unit 58. Here, it is detected by the gyroscope provided in the hip joint member 16 that the femoral material 18 is arranged vertically. Further, the air pressure determiner 57 is used to determine the pressure of air supplied to the artificial muscles 40 and 41 so that the tibial material 21 is vertically disposed with respect to the femoral material 18 via the knee joint member 19. Air is supplied to the artificial muscles 40 and 41 via the air pressure adjusting unit 58.

Here, the vertical arrangement of the tibial material 21 is detected by a gyroscope provided on the knee joint member 19. Furthermore, the air pressure determiner 57 is used to determine the pressure of air supplied to the artificial muscles 42 to 46 so that the foot bone material 24 is disposed perpendicularly to the tibial material 21 via the ankle joint member 22. Air is supplied to the artificial muscles 42 to 46 via the air pressure adjusting unit 58. Here, it is detected by the gyroscope provided in the ankle joint member 22 that the foot aggregate 24 is arranged vertically.
As a result, the lower limb skeleton 12 is in a standing state with the foot aggregates 24 aligned, as shown in FIG. Moreover, the landing state of both leg aggregates 24 is shown in FIG.

(Step a-2)
An air pressure determiner 57 is used to determine the inclination angle of the tibial material 21 with respect to the foot material 24 so that the center of gravity of the humanoid robot 10 is placed on the right foot material 24. Then, the pressure of the air supplied to the artificial muscles 42 to 46 is obtained by using the air pressure determiner 57 so that the tibial material 21 is inclined with respect to the foot material 24 by this inclination angle, Air is supplied to each artificial muscle 42-46.
At the same time, in the lower limb skeleton 12 on the left side, the femoral material 18 is lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16 and at the same time via the knee joint member 19 with respect to the femur material 18. The pressure of the air supplied to each artificial muscle 36 to 46 is obtained by using an air pressure determiner 57 so that the tibial material 21 rotates by a predetermined angle, and air is supplied to each artificial muscle 36 to 46 via the air pressure adjusting unit 58. Supply.

The rotation angle of the femur 18 with respect to the hip bone 15 and the rotation angle of the tibial 21 with respect to the femur 18 are calculated based on the length of the lower limb skeleton 12 and the step length of the humanoid robot 10. To do. Then, when the gyroscope detects that the rotation angle of the femur 18 and the rotation angle of the tibial 21 have reached the angles calculated in advance, the operation of the femur 18 and the tibial 21 is stopped. .
As a result, as shown in FIG. 13B, the center of gravity of the humanoid robot 10 is placed on the right foot bone material 24, and the foot bone material 24 of the left lower limb skeleton 12 is lifted and moved half a step forward. Can do. FIG. 14B shows the operating state of the left foot bone material 24.

(Step b-1)
The state where the center of gravity of the humanoid robot 10 is placed on the leg material 24 of the right limb skeleton 12 on the right side is maintained, and the tibial material 21 is bent at a predetermined angle with respect to the femur material 18 via the knee joint member 19. The air pressure in each of the artificial muscles 36 to 46 is obtained using an air pressure determiner 57, and air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjustment unit 58.
At the same time, in the lower limb skeleton 12 on the left side, the artificial muscles 36 to 46 are moved to lower the femoral bone 18 that has been lifted by rotating the femoral bone 18 by a predetermined angle with respect to the hip bone 15 via the hip joint member 16. The pressure of air to be supplied is obtained using an air pressure determiner 57, and air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
Here, since it is detected by the pressure sensor provided in the foot bone material 24 that the foot bone material 24 has landed, for example, when the load supported by the foot bone material 24 reaches half the weight of the humanoid robot 10. The operation of the femoral aggregate 18 can be stopped.
Accordingly, as shown in FIG. 13C, the left foot skeleton 12 of the lower limb skeleton 12 can be landed while the center of gravity of the humanoid robot 10 is placed on the right foot skeleton 24. FIG. 14C shows the left foot bone material 24 in the landing state.

(Step b-2)
In the left limb skeleton 12, the tibial material 21 is arranged perpendicular to the landing foot material 24, and the femoral material 18 is aligned with the tibial material 21 via the knee joint member 19 in a row. The pressure of the air supplied to the artificial muscles 36 to 46 is obtained using an air pressure determiner 57, and the air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
Along with this operation, the air pressure determiner 57 is used to determine the inclination angle of the tibial material 21 with respect to the foot material 24 such that the center of gravity of the humanoid robot 10 is placed on the left foot material 24. Then, the pressure of the air supplied to the artificial muscles 42 to 46 is obtained by using the air pressure determiner 57 so that the tibial material 21 is inclined with respect to the foot material 24 by this inclination angle, Air is supplied to each artificial muscle 42-46.

At the same time, in the lower limb skeleton 12 on the right side, the femoral material 18 is lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16 and at the same time via the knee joint member 19 with respect to the femur material 18. The pressure of the air supplied to each artificial muscle 36 to 46 is obtained by using an air pressure determiner 57 so that the tibial material 21 rotates by a predetermined angle, and air is supplied to each artificial muscle 36 to 46 via the air pressure adjusting unit 58. Supply.
As a result, as shown in FIG. 15A, while moving the center of gravity of the humanoid robot 10 to the left foot bone 24, the foot bone 24 of the right leg skeleton 12 is lifted and moved one step forward. be able to. In addition, FIG. 14D shows the operating state of the right foot bone material 24.

(Step c-1)
The center of gravity of the humanoid robot 10 is maintained on the leg material 24 of the left lower limb skeleton 12 and the tibial material 21 is bent at a predetermined angle with respect to the femoral material 18 via the knee joint member 19. The air pressure in each of the artificial muscles 36 to 46 is obtained using an air pressure determiner 57, and air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjustment unit 58.
At the same time, in the lower limb skeleton 12 on the right side, the artificial muscles 36 to 46 are configured so as to lower the femoral material 18 that has been lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16. The pressure of the air supplied to the artificial muscles 36 is obtained using an air pressure determiner 57, and the air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
As a result, as shown in FIG. 15B, the foot bone material 24 of the right leg skeleton 12 that has been floated can be landed while the center of gravity of the humanoid robot 10 is placed on the left foot bone material 24. FIG. 14E shows the right foot bone material 24 in the landing state.

(Step c-2)
In the lower limb skeleton 12 on the right side, the tibial material 21 is arranged perpendicular to the landing foot material 24, and the femoral material 18 is arranged in a row with respect to the tibial material 21 via the knee joint member 19. The pressure of the air supplied to the artificial muscles 36 to 46 is obtained using an air pressure determiner 57, and the air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
Along with this operation, an inclination angle of the tibial material 21 with respect to the foot material 24 such that the center of gravity of the humanoid robot 10 is placed on the right foot material 24 is obtained using the air pressure determiner 57. Then, the pressure of the air supplied to the artificial muscles 42 to 46 is obtained by using the air pressure determiner 57 so that the tibial material 21 is inclined with respect to the foot material 24 by this inclination angle, Air is supplied to each artificial muscle 42-46.

At the same time, in the lower limb skeleton 12 on the left side, the femoral material 18 is lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16 and at the same time via the knee joint member 19 with respect to the femur material 18. The pressure of the air supplied to each artificial muscle 36 to 46 is obtained by using an air pressure determiner 57 so that the tibial material 21 rotates by a predetermined angle, and air is supplied to each artificial muscle 36 to 46 via the air pressure adjusting unit 58. Supply.
As a result, as shown in FIG. 15C, while moving the center of gravity of the humanoid robot 10 to the right foot bone 24, the foot bone 24 of the left leg skeleton 12 is lifted and moved one step forward. be able to. FIG. 14F shows the operating state of the left foot bone material 24.

(Step d-1)
When the set final c-2 process is completed, the center of gravity of the humanoid robot 10 is maintained on the foot material 24 of the lower limb skeleton 12 on the right side, and the knee joint member 19 with respect to the femur material 18 is maintained. The air pressure in each of the artificial muscles 36 to 46 is obtained by using an air pressure determiner 57 so that the tibial material 21 rotates by a predetermined angle via the air pressure, and air is supplied to each artificial muscle 36 to 46 via the air pressure adjusting unit 58. Supply.
At the same time, in the left limb skeleton 12, the artificial muscles 36 to 46 are configured so as to lower the femoral material 18 that has been lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16. The pressure of the air supplied to the artificial muscles 36 is obtained using an air pressure determiner 57, and the air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
As a result, as shown in FIG. 16A, the left foot skeleton 12 of the lower limb skeleton 12 can be landed while the center of gravity of the humanoid robot 10 is placed on the right foot skeleton 24. FIG. 14G shows the left foot bone material 24 in the landing state.

(Step d-2)
In the left limb skeleton 12, the tibial material 21 is arranged perpendicular to the landing foot material 24, and the femoral material 18 is aligned with the tibial material 21 via the knee joint member 19 in a row. The pressure of the air supplied to the artificial muscles 36 to 46 is obtained using an air pressure determiner 57, and the air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
Along with this operation, the air pressure determiner 57 is used to determine the inclination angle of the tibial material 21 with respect to the foot material 24 such that the center of gravity of the humanoid robot 10 is placed on the left foot material 24. Then, the pressure of the air supplied to the artificial muscles 36 to 46 is obtained by using the air pressure determiner 57 so that the tibial material 21 is inclined with respect to the foot material 24 by this inclination angle, Air is supplied to each artificial muscle 36-46.
At the same time, in the lower limb skeleton 12 on the right side, the femoral material 18 is lifted by rotating the femoral material 18 by a predetermined angle with respect to the hip bone material 15 via the hip joint member 16 and at the same time via the knee joint member 19 with respect to the femur material 18. The pressure of the air supplied to each artificial muscle 36 to 46 is obtained by using an air pressure determiner 57 so that the tibial material 21 rotates by a predetermined angle, and air is supplied to each artificial muscle 36 to 46 via the air pressure adjusting unit 58. Supply.
As a result, as shown in FIG. 16B, while moving the center of gravity of the humanoid robot 10 to the left foot bone 24, the foot bone 24 of the right lower limb skeleton 12 is lifted and moved half a step forward. be able to. In addition, FIG. 14H shows an operation state of the right foot bone material 24.

(E process)
Inclination of the tibial material 21 with respect to the left foot material 24 so that the center of gravity of the humanoid robot 10 mounted on the foot material 24 of the left foot material 12 moves on a perpendicular line passing through the center between the two lower limbs skeletons 12. The air pressure in each of the artificial muscles 36 to 46 required to recover the air is obtained using an air pressure determiner 57, and air is supplied to each of the artificial muscles 36 to 46 via the air pressure adjusting unit 58.
At the same time, in the right limb skeleton 12, the right foot bone material 24 is landed so as to be aligned with the left foot bone material 24, and the tibial material 21 is arranged vertically with respect to the landed foot bone material 24. 21, the pressure of the air supplied to each of the artificial muscles 36 to 46 is obtained by using the air pressure determiner 57 so that the femoral material 18 is arranged in a line through the knee joint member 19, and the air pressure adjustment unit 58 is used. Air is supplied to each of the artificial muscles 36-46.
As a result, as shown in FIG. 16C, the leg material 24 of the right leg skeleton 12 is moved to the left leg bone material while returning the center of gravity of the humanoid robot 10 to the vertical line passing through the center between the both leg skeletons 12. It is possible to return to the home position where the foot bone material 24 of each lower limb skeleton 12 is aligned and erected. Further, FIG. 14I shows the landing state of the both foot aggregates 24.

As mentioned above, although embodiment of this invention was described, this invention is not limited to this embodiment, The change in the range which does not change the summary of invention is possible, Each above-mentioned embodiment is possible. A case where the humanoid robot of the present invention is configured by combining a part or all of the forms and modifications is also included in the scope of the right of the present invention.
For example, although an air compressor is used as the fluid supply means in the present embodiment, a portable compressed air tank may be used instead of the air compressor. In addition, the humanoid robot was disassembled into biped walking for each process, and the lower limb skeleton movements corresponding to each process were executed, but the air pressure value signal for each artificial muscle was continuously transmitted from the air pressure determiner. If the pressure is output automatically and the pressure in each artificial muscle is adjusted via the air pressure adjusting unit, the humanoid robot can perform a continuous bipedal motion. Furthermore, by changing the coordinated operation of contraction and recovery of each artificial muscle, it is possible to cause the humanoid robot to perform running, jumping, or stepping instead of biped walking, bowing, sitting on a chair, etc. it can.
Further, when the values detected by the angle sensor and the pressure sensor reach the set values, the operation of the femur and tibia is stopped, but the value of the change rate of the air pressure in each artificial muscle is detected. You may make it adjust according to the deviation with a setting value. Thereby, a highly responsive movement can be executed.

The following fields can be considered as industrial application fields of the humanoid robot according to the present invention.
(1) Welfare field that supports human life such as transporting heavy objects and assists human movement (2) Various data in an environment where human activities are not possible (for example, toxic gas atmosphere, high radioactive atmosphere) Fields where data collection and work are performed (3) Rehabilitation field that supports recovery of leg and arm motor functions after illness (4) Security personnel team up with multiple humanoid robots to perform security operations, and there are dangers to security personnel Alternative security field that allows humanoid robots to perform security operations when a problem occurs (5) Homeland security field that allows humanoid robots to guard their residences (6) Self-defense field where people work in teams with multiple humanoid robots

(A), (B) is the front view and left view which respectively show the skeleton of the humanoid robot which concerns on one embodiment of this invention. (A) and (B) are a rear view and a right side view showing the skeleton of the humanoid robot, respectively. (A), (B) is an enlarged view which shows arrangement | positioning of the artificial muscle around the hip joint member of the said humanoid robot, respectively. (A) and (B) are a front view and a left side view showing the arrangement of artificial muscles attached to the upper and lower limbs of the humanoid robot, respectively. (A) and (B) are a rear view and a right side view showing the arrangement of artificial muscles attached to the upper and lower limb skeletons of the humanoid robot, respectively. It is an enlarged view which shows arrangement | positioning of the artificial muscle around the knee joint member of the same humanoid robot. (A)-(C) is an enlarged view which shows arrangement | positioning of the artificial muscle around the ankle joint member of the said humanoid robot, respectively. (A), (B) is an enlarged view which shows arrangement | positioning of the artificial muscle around the shoulder joint member of the said humanoid robot, respectively. . It is an enlarged view which shows arrangement | positioning of the artificial muscle around the elbow joint member of the humanoid robot. It is explanatory drawing which shows the drive system of the artificial muscle attached to the same humanoid robot. It is explanatory drawing of the artificial muscle used for the same humanoid robot. It is a flowchart at the time of making the humanoid robot perform bipedal walking. (A)-(C) are explanatory drawings which show a series of movements of the lower limb skeleton when the humanoid robot performs bipedal walking. It is explanatory drawing which shows the positional change of a foot bone when the humanoid robot walks two legs. (A)-(C) are explanatory drawings which show a series of movements of the lower limb skeleton when the humanoid robot performs bipedal walking. (A)-(C) are explanatory drawings which show a series of movements of the lower limb skeleton when the humanoid robot performs bipedal walking. It is explanatory drawing which shows the structure of the leg part of the humanoid robot which concerns on a prior art example.

Explanation of symbols

10: humanoid robot, 11: trunk skeleton, 12: lower limb skeleton, 13: upper limb skeleton, 14: head, 15: hip bone material, 16: hip joint member, 17: first artificial muscle pair, 17a: second Artificial muscle pair, 18: femur, 19: knee joint member, 20: third artificial muscle pair, 21: tibial material, 22: ankle joint member, 23: fourth artificial muscle pair, 23a: fifth Artificial muscle pair, 24: foot aggregate, 25: clavicle aggregate, 26: shoulder joint member, 28: humeral aggregate, 29: elbow joint member, 30: sixth artificial muscle pair, 30a: seventh artificial muscle pair 30b: eighth artificial muscle pair, 31: rib material, 32: wrist joint member, 33: hand bone material, 34: cervical spine member, 35: head bone material, 36 to 52: artificial muscle, 55: pressure control means, 56: Air compressor, 57: Air pressure determiner, 58: Air pressure adjustment unit, 59: Power supply unit, 6 : Air supply pipe, 61: Air distribution pipe, 62: Mounting part, 63: Metal fitting, 64: Ninth artificial muscle pair, 65-68: Artificial muscle, 69: Tenth artificial muscle pair, 70, 71: Artificial Muscle, 72: Eleventh artificial muscle pair

Claims (10)

The artificial muscles, whose contraction amount changes according to the pressure of the fluid injected into the inside, are used as the power source, and are attached to the trunk skeleton, the lower limb skeletons attached to the lower sides of the trunk skeleton, and the upper sides of the trunk skeleton. In a humanoid robot with an upper limb skeleton,
The lower limb skeleton includes a femur connected to an hip bone provided on the torso skeleton via a hip joint member, a tibial material connected to the femur material via a knee joint member, and the tibial material Having ankle aggregate connected via an ankle joint member,
The hip bone material is connected to the hip bone material via the hip joint member so as to be able to bend, tilt, and turn, and further, the hip joint member is located inside, and the hip bone material and the femur material are connected. A first and a second artificial muscle pair connected to each other and arranged in two different angular positions facing each other, each having the artificial muscle ;
The tibial material is rotatably connected to the femoral material via the knee joint member, and the hip bone material and the upper portion of the tibial material are opposed to each other with the knee joint member inside. Connected by a third artificial muscle pair comprising the artificial muscle,
The ankle material is connected to the tibial material via the ankle joint member so as to be able to bend, tilt, and turn, the lower part of the tibial material is connected to the ankle material, and the ankle joint member is centered. A fourth artificial muscle pair having the artificial muscles at the left and right positions thereof, and one connecting the rear lower part of the tibial material and the rear upper part of the foot bone material, and the other connecting the front upper part of the tibial material A fifth artificial muscle pair including the artificial muscle for connecting the front side of the foot aggregate is provided, and further, the artificial muscle for connecting the rear lower part of the femur and the rear lower part of the foot aggregate. humanoid robot comprising: a. 2. The humanoid robot according to claim 1, wherein the first and second artificial muscle pairs are provided at a front-rear position and a left-right position of the hip joint member, respectively, when the humanoid robot is in an upright state. Humanoid robot. The humanoid robot according to claim 1, wherein the upper limb skeleton is connected to a clavicle provided on the torso skeleton via a shoulder joint member, and is connected to the humeral bone via an elbow joint member. Have the aggregate to
The clavicle is connected to the humerus via the shoulder joint so that the humerus can be bent, tilted, and swiveled. A humanoid robot comprising the sixth and seventh artificial muscle pairs each having the artificial muscles connected to each other and arranged in two different angular positions facing each other. The humanoid robot according to claim 3 , wherein the rib material is rotatably connected to the humerus aggregate via the elbow joint member, and an end portion of the clavicle material and an upper part of the rib material are connected to each other , and the elbow A humanoid robot characterized in that an eighth artificial muscle pair having the above-mentioned artificial muscles is provided facing each other with the joint members inside. In humanoid robot according to any one of claims 3 and 4, the hip member, the knee member, the ankle joint member, the shoulder joint member, and an angle sensor for detecting the inclination in the elbow joint member A humanoid robot characterized by being provided. The humanoid robot according to any one of claims 3 to 5 , wherein a skull is connected to a central portion of the clavicle so as to be inclined and rotatable via a cervical spine member,
One of the cervical spine member and the clavicle aggregate connects the front upper part of the cervical spine member and the front side of the clavicular aggregate, and the other connects the rear upper part of the cervical spine member and the rear side of the clavicular aggregate. A first artificial muscle pair including: a first front lower portion of the cervical spine member and a left front side of the clavicle; A tenth artificial muscle pair including the artificial muscle, and one of the lower left side lower part of the cervical spine member and the left rear side of the clavicle material is connected, and the other is a lower right rear lower part of the cervical spine member. A humanoid robot comprising an eleventh artificial muscle pair including the artificial muscle connecting the right rear side of the clavicle. The humanoid robot according to any one of claims 1 to 6 , wherein the artificial muscle expands and contracts by the fluid supplied from the fluid supply means via the pressure control means, and the length thereof changes. Characteristic humanoid robot. 8. The humanoid robot according to claim 7 , wherein the fluid is air. 9. The humanoid robot according to claim 8 , wherein the fluid supply means is a portable compressed air tank. The humanoid robot according to any one of claims 1 to 9 , wherein the foot bone material is provided with a pressure sensor that detects pressure applied to the foot bone material.

Images