JP5221648B2 - エネルギー効率の良いロボットシステム - Google Patents
エネルギー効率の良いロボットシステム Download PDFInfo
- Publication number
- JP5221648B2 JP5221648B2 JP2010509421A JP2010509421A JP5221648B2 JP 5221648 B2 JP5221648 B2 JP 5221648B2 JP 2010509421 A JP2010509421 A JP 2010509421A JP 2010509421 A JP2010509421 A JP 2010509421A JP 5221648 B2 JP5221648 B2 JP 5221648B2
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- JP
- Japan
- Prior art keywords
- load
- robot system
- energy
- motion
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1892—Generators with parts oscillating or vibrating about an axis
-
- 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
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G5/00—Devices for producing mechanical power from muscle energy
- F03G5/06—Devices for producing mechanical power from muscle energy other than of endless-walk type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/08—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for recovering energy derived from swinging, rolling, pitching or like movements, e.g. from the vibrations of a machine
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Power Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Toys (AREA)
Description
本出願は、参照により内容が本明細書に援用される、2007年5月25日に出願された米国特許出願第11/753,715号明細書について優先権を主張する。
Claims (12)
- 受動型の動歩行を伴うエネルギー効率の良い二足歩行のロボットシステムであって、
枠を含む本体部分と、
荷重、前記荷重と前記枠を相互接続する機械的エネルギー蓄積機構、前記枠に対して前記荷重の運動をガイドするための、前記荷重に固定されたガイド手段、荷重の機械的運動から電気エネルギーを発生させるための、電気エネルギー発生機構と前記荷重とを相互接続する機械的エネルギー入力機構、及び生成された電気エネルギーをエネルギー蓄積装置に移す出力手段を含む、前記枠内に懸架されたエネルギー回復機構と、
受動型の動歩行中の周期的な脚の運動が、機械的エネルギー蓄積機構を通じて前記荷重に伝達され、前記脚の周期的運動から生じる前記荷重の振動運動が、電気エネルギーを発生させるために、機械的エネルギー入力部としての前記機械的エネルギー入力機構によって、前記電気エネルギー発生機構に伝達され、生成された電気エネルギーがロボットシステムによる使用のために前記エネルギー蓄積装置に移される、前記本体部分に接続された脚と、を備えるロボットシステム。 - 前記ロボットシステムが前記本体部分に動作可能なように接続された腕を含む、請求項1に記載のロボットシステム。
- 前記枠が前方枠部分及び後方枠部分を含み、各々が上部枠部材、下部枠部材、前記上部枠部材と下部枠部材とを相互接続する側方枠部材、及び前方枠部分と後方枠部分とを相互接続する横部材を有する、請求項1に記載のロボットシステム。
- 前記振動運動が垂直方向の運動である、請求項1に記載のロボットシステム。
- 前記エネルギー回復機構が水平に向いており、そして振動運動が水平方向の運動である、請求項1に記載のロボットシステム。
- 前記エネルギー回復機構が回転運動を捉え、振動運動がエネルギー発生機構を回転駆動する、請求項1に記載のロボットシステム。
- 前記荷重及び前記エネルギー蓄積装置がバッテリーである、請求項1に記載のロボットシステム。
- 前記本体部分に接続される2本の脚を備え、各々の脚が膝継手により相互接続された第1及び第2の脚部材を含み、前記第2の脚部材の下端が足継手により足と相互接続され、前記第1の脚部材の上端が前記本体部分に接続される、請求項1に記載のロボットシステム。
- 前記機械的エネルギー蓄積機構は、ばねを含む、請求項8に記載のロボットシステム。
- 前記機械的エネルギー蓄積機構が、ロボットの重心における垂直振動運動を増幅させるべく選択的に調整可能である、請求項1に記載のロボットシステム。
- 前記ガイド手段が、前記上部枠部材と前記下部枠部材との間に延びる、垂直に向いたロッドであり、前記荷重が前記ガイド手段に対して動く、請求項1に記載のロボットシステム。
- 前記電気エネルギー発生手段が発電機であり、歯付きの梁が前記荷重を前記発電機に動作可能なように接続されている小歯車と相互接続する、請求項1に記載のロボットシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/753,715 US7703562B2 (en) | 2007-05-25 | 2007-05-25 | Energy efficient robotic system |
US11/753,715 | 2007-05-25 | ||
PCT/US2008/061700 WO2008147615A1 (en) | 2007-05-25 | 2008-04-27 | Energy efficient robotic system |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010527803A JP2010527803A (ja) | 2010-08-19 |
JP5221648B2 true JP5221648B2 (ja) | 2013-06-26 |
Family
ID=40071746
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010509421A Expired - Fee Related JP5221648B2 (ja) | 2007-05-25 | 2008-04-27 | エネルギー効率の良いロボットシステム |
Country Status (6)
Country | Link |
---|---|
US (2) | US7703562B2 (ja) |
EP (1) | EP2155538B1 (ja) |
JP (1) | JP5221648B2 (ja) |
KR (1) | KR101162691B1 (ja) |
CN (1) | CN101678866B (ja) |
WO (1) | WO2008147615A1 (ja) |
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US7851932B2 (en) * | 2007-03-29 | 2010-12-14 | Lightning Packs, Llc | Backpack based system for human electricity generation and use when off the electric grid |
US8030786B2 (en) * | 2008-08-22 | 2011-10-04 | Willowview Systems, Inc. | System for generating electrical energy from ambient energy |
US8350394B2 (en) * | 2009-09-30 | 2013-01-08 | Alcatel Lucent | Energy harvester apparatus having improved efficiency |
US20110169271A1 (en) * | 2010-01-11 | 2011-07-14 | Chia-Li Chen | Micro power generating device |
US8716877B2 (en) | 2010-05-14 | 2014-05-06 | Thomas Sugar | Method and apparatus for harvesting energy from ankle motion |
US8564144B1 (en) * | 2010-05-19 | 2013-10-22 | Lightning Packs, Llc | Light-weight human generated electricity |
EP2597299B1 (en) * | 2010-07-21 | 2020-04-22 | Samsung Heavy Industries Co., Ltd. | Wave power generation apparatus |
DE102011120037A1 (de) * | 2011-12-02 | 2013-06-06 | Kuka Roboter Gmbh | Manipulatoranordnung und Verfahren zum Betreiben der Manipulatoranordnung |
CN103303388B (zh) * | 2013-07-08 | 2016-01-20 | 北京理工大学 | 四足机器人全方位自适应弹性脚 |
CN103904824B (zh) * | 2014-03-14 | 2016-06-29 | 上海大学 | 自主发电筒形机构 |
KR101597758B1 (ko) * | 2014-05-19 | 2016-02-25 | 태하메카트로닉스 주식회사 | 웨이트 밸런스 기능을 갖춘 의료용 로봇 베이스 |
US10988191B2 (en) * | 2014-08-20 | 2021-04-27 | Hydraulic Systems, Llc | Load transporting apparatus and methods of using same |
CN105495843A (zh) * | 2014-09-22 | 2016-04-20 | 富泰华工业(深圳)有限公司 | 保暖鞋 |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
DE102016200394B4 (de) * | 2016-01-14 | 2019-06-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Steuerung eines Schwingungssystems und Aktuator |
CN107315346B (zh) * | 2017-06-23 | 2020-01-14 | 武汉工程大学 | 一种基于cpg模型的仿人机器人步态规划方法 |
DE102018103892B4 (de) * | 2018-02-21 | 2021-02-04 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobiler Roboter und Beinanordnung hierfür sowie Verfahren zum Ausführen einer Laufbewegung |
CN108789373B (zh) * | 2018-07-02 | 2021-05-04 | 西北工业大学 | 一种能实现人体能量迁移的无源上肢助力外骨骼装置 |
US10815961B2 (en) * | 2018-10-01 | 2020-10-27 | Abu Dhabi Polytechnic | Ocean wave power generator with artificially intelligent controller |
CN110843953A (zh) * | 2019-12-06 | 2020-02-28 | 北京理工大学 | 一种具有缓冲与助推功能的并联式机器人腿 |
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CN113060222B (zh) * | 2021-03-26 | 2022-04-08 | 北京交通大学 | 一种变拓扑双环路闭链腿机构多足平台 |
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2007
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-
2008
- 2008-04-27 KR KR1020097026894A patent/KR101162691B1/ko not_active IP Right Cessation
- 2008-04-27 WO PCT/US2008/061700 patent/WO2008147615A1/en active Application Filing
- 2008-04-27 EP EP08746983.9A patent/EP2155538B1/en not_active Not-in-force
- 2008-04-27 JP JP2010509421A patent/JP5221648B2/ja not_active Expired - Fee Related
- 2008-04-27 CN CN2008800157706A patent/CN101678866B/zh not_active Expired - Fee Related
-
2010
- 2010-03-18 US US12/726,442 patent/US8069938B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US20080290743A1 (en) | 2008-11-27 |
EP2155538B1 (en) | 2015-09-02 |
US7703562B2 (en) | 2010-04-27 |
EP2155538A1 (en) | 2010-02-24 |
EP2155538A4 (en) | 2015-01-21 |
JP2010527803A (ja) | 2010-08-19 |
US8069938B2 (en) | 2011-12-06 |
KR101162691B1 (ko) | 2012-07-05 |
US20100170729A1 (en) | 2010-07-08 |
CN101678866B (zh) | 2011-11-16 |
WO2008147615A1 (en) | 2008-12-04 |
CN101678866A (zh) | 2010-03-24 |
WO2008147615A8 (en) | 2010-01-28 |
KR20100022487A (ko) | 2010-03-02 |
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