JP5539040B2 - 脚式移動ロボット - Google Patents
脚式移動ロボット Download PDFInfo
- Publication number
- JP5539040B2 JP5539040B2 JP2010128490A JP2010128490A JP5539040B2 JP 5539040 B2 JP5539040 B2 JP 5539040B2 JP 2010128490 A JP2010128490 A JP 2010128490A JP 2010128490 A JP2010128490 A JP 2010128490A JP 5539040 B2 JP5539040 B2 JP 5539040B2
- Authority
- JP
- Japan
- Prior art keywords
- axis
- joint
- link
- leg link
- knee joint
- 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
Links
- 210000000629 knee joint Anatomy 0.000 claims description 49
- 210000001699 lower leg Anatomy 0.000 claims description 38
- 210000002414 leg Anatomy 0.000 claims description 34
- 210000000689 upper leg Anatomy 0.000 claims description 28
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 15
- 210000004394 hip joint Anatomy 0.000 claims description 14
- 210000002683 foot Anatomy 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 2
- 210000003127 knee Anatomy 0.000 description 12
- 210000001503 joint Anatomy 0.000 description 11
- 210000003423 ankle Anatomy 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
-
- 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
-
- 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
Description
Claims (3)
- 上体、及び、前記上体と上腿リンクを連結する股関節と、前記上腿リンクと下腿リンクを連結する膝関節と、前記下腿リンクと足平を連結する足首関節とを有する脚体を備え、該脚体を駆動して移動する脚式移動ロボットであって、
一端が前記下腿リンクの第1の軸に対して回転自在に連結され、他端が前記上腿リンクの第2の軸に回転自在に連結される連結ロッドと、
前記下腿リンクの第3の軸と前記上腿リンクの第4の軸との間の距離を、駆動源による駆動力により変化させる距離変動機構とを備え、
前記第1の軸の軸心と前記股関節の回転軸心とを結ぶ直線と、前記第1の軸の軸心と前記足首関節の回転軸心とを結ぶ直線とがなす角である前記膝関節の屈曲角が0度のとき、前記第1の軸と前記第2の軸との間の距離と前記第2の軸と前記第4の軸との間の距離との和が、前記第3の軸と前記第4の軸との間の距離よりも小さく、
前記距離変動機構は、
前記駆動源により前記第4の軸を中心に回転駆動される回転板と、
一端が前記回転板の端部に回転自在に連結され、他端が前記第3の軸にて前記下腿リンクに回転自在に連結される連結ロッドとを備えることを特徴とする脚式移動ロボット。 - 前記股関節の回転軸心と前記足首関節の回転軸心との間の距離を前記膝関節の屈曲角で微分した値が、前記膝関節の屈曲角が0度のとき0にならないように構成されていることを特徴とする請求項1に記載の脚式移動ロボット。
- 一端が前記下腿リンクの第5の軸に対して回転自在に連結され、他端が前記上腿リンクの第6の軸に回転自在に連結される連結ロッドをさらに備えることを特徴とする請求項1又は2に記載の脚式移動ロボット。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010128490A JP5539040B2 (ja) | 2010-06-04 | 2010-06-04 | 脚式移動ロボット |
KR1020110042775A KR101264248B1 (ko) | 2010-06-04 | 2011-05-06 | 다리식 이동 로봇 |
US13/152,724 US8387726B2 (en) | 2010-06-04 | 2011-06-03 | Legged mobile robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010128490A JP5539040B2 (ja) | 2010-06-04 | 2010-06-04 | 脚式移動ロボット |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011251396A JP2011251396A (ja) | 2011-12-15 |
JP5539040B2 true JP5539040B2 (ja) | 2014-07-02 |
Family
ID=45063606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010128490A Expired - Fee Related JP5539040B2 (ja) | 2010-06-04 | 2010-06-04 | 脚式移動ロボット |
Country Status (3)
Country | Link |
---|---|
US (1) | US8387726B2 (ja) |
JP (1) | JP5539040B2 (ja) |
KR (1) | KR101264248B1 (ja) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101457147B1 (ko) * | 2008-05-14 | 2014-11-03 | 삼성전자 주식회사 | 인간형 로봇과 그 어깨관절 어셈블리 |
US8914151B2 (en) * | 2011-07-05 | 2014-12-16 | The State Of Oregon Acting By And Through The State Board Of Higher Education On Behalf Of Oregon State University | Apparatus and method for legged locomotion integrating passive dynamics with active force control |
JP5976401B2 (ja) * | 2012-05-31 | 2016-08-23 | Thk株式会社 | 脚式ロボットの下肢構造及び脚式ロボット |
KR102093307B1 (ko) * | 2013-06-28 | 2020-03-25 | 대우조선해양 주식회사 | 착용로봇의 무릎관절 |
CN103395457B (zh) * | 2013-07-01 | 2016-03-02 | 中国科学技术大学 | 一种基于混合驱动机构的多足移动装置 |
US10144464B1 (en) * | 2014-07-10 | 2018-12-04 | National Technology & Engineering Solutions Of Sandia, Llc | Energy efficient robot |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
CN105752187A (zh) * | 2014-12-14 | 2016-07-13 | 哈尔滨市三和佳美科技发展有限公司 | 机器人下肢 |
US10189519B2 (en) * | 2015-05-29 | 2019-01-29 | Oregon State University | Leg configuration for spring-mass legged locomotion |
CN104973161B (zh) * | 2015-07-10 | 2017-05-10 | 陕西九立机器人制造有限公司 | 一种足式机器人的腿部结构 |
CN104960591B (zh) * | 2015-07-10 | 2017-05-24 | 陕西九立机器人制造有限公司 | 一种六足机器人 |
CN105151155A (zh) * | 2015-09-30 | 2015-12-16 | 陈璟东 | 一种腰部传动机构控制方法 |
CN105235766B (zh) * | 2015-11-03 | 2017-08-25 | 郑州轻工业学院 | 一种可实现跳跃功能的四足仿生机器人单腿 |
CN105774938B (zh) * | 2016-03-03 | 2017-11-07 | 北京中航科电测控技术股份有限公司 | 具有越障功能的双足机器人 |
JP6909783B2 (ja) * | 2016-06-08 | 2021-07-28 | 任天堂株式会社 | 受動歩行装置及び受動歩行モジュール |
JP1584573S (ja) * | 2017-01-12 | 2018-08-20 | ||
CN106882286B (zh) * | 2017-03-14 | 2023-04-07 | 北京工业大学 | 一种液压驱动式机器人腿足结构 |
CN106914906B (zh) * | 2017-04-16 | 2018-11-02 | 扬州市杭集创意设计园有限公司 | 一种电线杆修补机器人 |
WO2019047011A1 (zh) * | 2017-09-05 | 2019-03-14 | 刘哲 | 一种机器人 |
CN109747728A (zh) * | 2017-11-07 | 2019-05-14 | 山东交通学院 | 一种全转动副模块化机器人运输平台 |
CN108261315A (zh) * | 2017-12-17 | 2018-07-10 | 青岛万祥如光机械技术研究有限公司 | 一种适用范围广的支撑装置 |
CN107985439B (zh) * | 2017-12-29 | 2023-12-05 | 北京钢铁侠科技有限公司 | 一种仿人机器人腿部机构 |
CN108583719A (zh) * | 2018-05-08 | 2018-09-28 | 张紫薇 | 一种双足行走机器人 |
CN108583720A (zh) * | 2018-05-22 | 2018-09-28 | 天津市大然科技有限公司 | 腰部使用八杆变胞机构的四足仿生机器人及驱动方法 |
CN108789401B (zh) * | 2018-09-12 | 2023-10-10 | 华尔嘉(泉州)机械制造有限公司 | 运动仿真机器人模特 |
WO2020081630A2 (en) | 2018-10-17 | 2020-04-23 | Petoi, Llc | Robotic animal puzzle |
JP7149208B2 (ja) * | 2019-03-14 | 2022-10-06 | 川崎重工業株式会社 | ロボットの関節構造体 |
WO2021002489A1 (ko) * | 2019-07-01 | 2021-01-07 | 엘지전자 주식회사 | 로봇 |
WO2021002488A1 (ko) * | 2019-07-01 | 2021-01-07 | 엘지전자 주식회사 | 로봇 |
CN110406612A (zh) * | 2019-08-19 | 2019-11-05 | 上海交通大学 | 机器人腿部结构及机器人 |
CN111071365A (zh) * | 2019-12-17 | 2020-04-28 | 之江实验室 | 一种高能效步行的双足机器人腿足结构 |
JP6980078B2 (ja) * | 2019-12-19 | 2021-12-15 | 株式会社バンダイ | 人型玩具 |
US20210319720A1 (en) * | 2020-04-09 | 2021-10-14 | Thomas C. Purvis | Biomechanical Model System |
CN111674531B (zh) * | 2020-06-01 | 2022-02-11 | 哈尔滨工程大学 | 一种仿生机器蟹单电机控制两蟹腿运动结构 |
JP7248729B2 (ja) * | 2021-03-30 | 2023-03-29 | 株式会社ソニー・インタラクティブエンタテインメント | アームユニット |
CN113460188A (zh) * | 2021-07-30 | 2021-10-01 | 深圳市优必选科技股份有限公司 | 关节单元模组及腿部机器人 |
CN114633822B (zh) * | 2022-02-24 | 2024-01-16 | 天津理工大学 | 三驱动可调节闭链腿部机构 |
CN115946794A (zh) * | 2023-02-14 | 2023-04-11 | 七腾机器人有限公司 | 机器人腿足装置 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5318471A (en) * | 1991-12-06 | 1994-06-07 | Glovier Lloyd H | Robotic joint movement device |
JPH07285085A (ja) * | 1994-04-14 | 1995-10-31 | Mitsubishi Heavy Ind Ltd | ロボットの歩行脚装置 |
FI100098B (fi) * | 1995-11-06 | 1997-09-30 | Plustech Oy | Jalkamekanismi |
CA2427571C (en) * | 2000-11-17 | 2008-04-29 | Susumu Miyazaki | Leg structure of legged robot |
US6484068B1 (en) * | 2001-07-24 | 2002-11-19 | Sony Corporation | Robot apparatus and method for controlling jumping of robot device |
JP3674778B2 (ja) * | 2001-09-27 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの脚体関節アシスト装置 |
KR100541433B1 (ko) * | 2002-12-23 | 2006-01-11 | 삼성전자주식회사 | 2족보행로봇 |
JP4299567B2 (ja) * | 2003-03-31 | 2009-07-22 | 本田技研工業株式会社 | 脚式移動ロボット |
JP4299583B2 (ja) * | 2003-05-20 | 2009-07-22 | 本田技研工業株式会社 | 脚式移動ロボット |
JP4675356B2 (ja) * | 2007-07-06 | 2011-04-20 | 本田技研工業株式会社 | 脚式移動ロボット |
JP5330733B2 (ja) * | 2008-05-12 | 2013-10-30 | 学校法人東海大学 | 歩行ロボット |
KR101464125B1 (ko) * | 2008-06-05 | 2014-12-04 | 삼성전자주식회사 | 보행로봇 |
-
2010
- 2010-06-04 JP JP2010128490A patent/JP5539040B2/ja not_active Expired - Fee Related
-
2011
- 2011-05-06 KR KR1020110042775A patent/KR101264248B1/ko active IP Right Grant
- 2011-06-03 US US13/152,724 patent/US8387726B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JP2011251396A (ja) | 2011-12-15 |
KR101264248B1 (ko) | 2013-05-22 |
US8387726B2 (en) | 2013-03-05 |
US20110297461A1 (en) | 2011-12-08 |
KR20110133417A (ko) | 2011-12-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5539040B2 (ja) | 脚式移動ロボット | |
JP4255663B2 (ja) | 脚式移動ロボット | |
KR101049626B1 (ko) | 로봇 | |
JP5468973B2 (ja) | 脚式移動ロボット | |
JP5436300B2 (ja) | 脚式移動ロボット | |
JP3435666B2 (ja) | ロボット | |
JP4236900B2 (ja) | ロボットの関節構造 | |
EP1625917B1 (en) | Legged mobile robot | |
JP5602057B2 (ja) | 脚式移動ロボット及び揺動構造 | |
KR101487783B1 (ko) | 로봇 및 그 제어방법 | |
JP4675356B2 (ja) | 脚式移動ロボット | |
JP2005288561A (ja) | ヒューマノイドロボット | |
JP5528916B2 (ja) | ロボット及びロボットの外力検出機構 | |
JP3673869B2 (ja) | 二脚歩行式人型ロボット及びその手先収納機構 | |
JP5450203B2 (ja) | 脚式移動ロボット | |
KR101267800B1 (ko) | 다리식 이동 로봇 및 요동 구조 | |
JP2004017181A (ja) | 歩行式ロボット | |
JP5261222B2 (ja) | 脚式移動ロボット | |
JP2010184311A (ja) | 脚式移動ロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20121127 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20130820 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20131021 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20131203 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20140123 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20140408 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 5539040 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20140430 |
|
LAPS | Cancellation because of no payment of annual fees |