JP5976401B2 - 脚式ロボットの下肢構造及び脚式ロボット - Google Patents

脚式ロボットの下肢構造及び脚式ロボット Download PDF

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Publication number
JP5976401B2
JP5976401B2 JP2012124511A JP2012124511A JP5976401B2 JP 5976401 B2 JP5976401 B2 JP 5976401B2 JP 2012124511 A JP2012124511 A JP 2012124511A JP 2012124511 A JP2012124511 A JP 2012124511A JP 5976401 B2 JP5976401 B2 JP 5976401B2
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Prior art keywords
thigh
joint
joint body
hip joint
pitch axis
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Japanese (ja)
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JP2013248699A (ja
JP2013248699A5 (enExample
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正樹 永塚
正樹 永塚
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THK Co Ltd
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THK Co Ltd
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Priority to JP2012124511A priority Critical patent/JP5976401B2/ja
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to US14/401,892 priority patent/US9446514B2/en
Priority to KR1020147036367A priority patent/KR101979480B1/ko
Priority to PCT/JP2013/060940 priority patent/WO2013179782A1/ja
Priority to CN201380028692.4A priority patent/CN104349871B/zh
Priority to DE112013002741.0T priority patent/DE112013002741T5/de
Publication of JP2013248699A publication Critical patent/JP2013248699A/ja
Publication of JP2013248699A5 publication Critical patent/JP2013248699A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/27—Arm part
    • Y10S901/28—Joint
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
JP2012124511A 2012-05-31 2012-05-31 脚式ロボットの下肢構造及び脚式ロボット Active JP5976401B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2012124511A JP5976401B2 (ja) 2012-05-31 2012-05-31 脚式ロボットの下肢構造及び脚式ロボット
KR1020147036367A KR101979480B1 (ko) 2012-05-31 2013-04-11 다리식 로봇의 하지 구조 및 다리식 로봇
PCT/JP2013/060940 WO2013179782A1 (ja) 2012-05-31 2013-04-11 脚式ロボットの下肢構造及び脚式ロボット
CN201380028692.4A CN104349871B (zh) 2012-05-31 2013-04-11 腿式机器人的下肢结构以及腿式机器人
US14/401,892 US9446514B2 (en) 2012-05-31 2013-04-11 Lower limb structure for legged robot, and legged robot
DE112013002741.0T DE112013002741T5 (de) 2012-05-31 2013-04-11 Untere Gliedmaßenstruktur für Laufroboter und Laufroboter

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012124511A JP5976401B2 (ja) 2012-05-31 2012-05-31 脚式ロボットの下肢構造及び脚式ロボット

Publications (3)

Publication Number Publication Date
JP2013248699A JP2013248699A (ja) 2013-12-12
JP2013248699A5 JP2013248699A5 (enExample) 2015-07-09
JP5976401B2 true JP5976401B2 (ja) 2016-08-23

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JP2012124511A Active JP5976401B2 (ja) 2012-05-31 2012-05-31 脚式ロボットの下肢構造及び脚式ロボット

Country Status (6)

Country Link
US (1) US9446514B2 (enExample)
JP (1) JP5976401B2 (enExample)
KR (1) KR101979480B1 (enExample)
CN (1) CN104349871B (enExample)
DE (1) DE112013002741T5 (enExample)
WO (1) WO2013179782A1 (enExample)

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JP5539040B2 (ja) * 2010-06-04 2014-07-02 本田技研工業株式会社 脚式移動ロボット

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CN104349871A (zh) 2015-02-11
WO2013179782A1 (ja) 2013-12-05
US20150122559A1 (en) 2015-05-07
KR20150016362A (ko) 2015-02-11
DE112013002741T5 (de) 2015-03-19
CN104349871B (zh) 2017-08-25
US9446514B2 (en) 2016-09-20
KR101979480B1 (ko) 2019-08-28

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