KR100675057B1 - 로봇용 부가적 지지 구조 - Google Patents
로봇용 부가적 지지 구조 Download PDFInfo
- Publication number
- KR100675057B1 KR100675057B1 KR1020047017950A KR20047017950A KR100675057B1 KR 100675057 B1 KR100675057 B1 KR 100675057B1 KR 1020047017950 A KR1020047017950 A KR 1020047017950A KR 20047017950 A KR20047017950 A KR 20047017950A KR 100675057 B1 KR100675057 B1 KR 100675057B1
- Authority
- KR
- South Korea
- Prior art keywords
- robot
- support structure
- arm
- additional support
- hand
- Prior art date
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- 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
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
Abstract
Description
Claims (5)
- 로봇의 몸을 지지하는 부가적 지지 구조에 있어서,상기 로봇의 팔 (2) 의 선단부 혹은 중간부의 관절 (2c, 2b) 또는 다리 (4) 의 중간부의 관절 (4b) 에 설치되어, 그 로봇을 지지하는 면에 맞닿는 맞닿음 부재 (7) 와,상기 팔 (2) 또는 다리 (4) 의, 상기 맞닿음 부재 (7) 가 설치된 부위로부터 기단부까지의 부분을 구비하여 이루어지며,상기 맞닿음 부재 (7) 는 그 맞닿음 부재 (7) 를 설치하는 관절 (2c, 2b, 4c) 로부터 선단 가까운 부분(손목 관절 (2c) 로부터 팔의 선단 가까운 부분인 손 (3), 팔 (2) 의 팔꿈치 관절 (2b) 로부터 선단 가까운 부분인 팔의 앞쪽, 무릎 관절 (4b) 로부터 다리의 선단 가까운 부분인 정강이)를 관절 (2c, 2b, 4c) 에서 절곡하면 나타나도록 하는 것을 특징으로 하는, 로봇용 부가적 지지 구조.
- 제 1 항에 있어서, 상기 맞닿음 부재 (7) 는, 상기 팔 (2) 의 선단부의 관절 (2c) 에 설치되어 있는 것을 특징으로 하는, 로봇용 부가적 지지 구조.
- 제 1 항 또는 제 2 항에 있어서, 상기 맞닿음 부재 (7) 는 미끄럼 방지 부재를 구비하여 이루어지는 것을 특징으로 하는, 로봇용 부가적 지지 구조.
- 제 1 항 또는 제 2 항에 있어서, 상기 지지 구조는, 완충수단을 구비하고 있는 것을 특징으로 하는, 로봇용 부가적 지지 구조.
- 제 3 항에 있어서, 상기 지지 구조는, 완충수단을 구비하고 있는 것을 특징으로 하는, 로봇용 부가적 지지 구조.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JPJP-P-2002-00136029 | 2002-05-10 | ||
JP2002136029A JP3938326B2 (ja) | 2002-05-10 | 2002-05-10 | ロボット用付加的支持構造 |
PCT/JP2003/005699 WO2003095156A1 (fr) | 2002-05-10 | 2003-05-07 | Structure de support complementaire pour robot |
Publications (2)
Publication Number | Publication Date |
---|---|
KR20050018674A KR20050018674A (ko) | 2005-02-23 |
KR100675057B1 true KR100675057B1 (ko) | 2007-01-26 |
Family
ID=29416769
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020047017950A KR100675057B1 (ko) | 2002-05-10 | 2003-05-07 | 로봇용 부가적 지지 구조 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7896112B2 (ko) |
JP (1) | JP3938326B2 (ko) |
KR (1) | KR100675057B1 (ko) |
AU (1) | AU2003235870A1 (ko) |
WO (1) | WO2003095156A1 (ko) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7643051B2 (en) * | 2005-09-09 | 2010-01-05 | Roy Benjamin Sandberg | Mobile video teleconferencing system and control method |
KR100749878B1 (ko) | 2006-05-30 | 2007-08-16 | 한양대학교 산학협력단 | 휴머노이드 로봇용 로봇 암 |
KR20130073591A (ko) * | 2011-12-23 | 2013-07-03 | 삼성전자주식회사 | 지지모듈 및 이를 포함하는 로봇 |
US9193403B2 (en) * | 2013-03-20 | 2015-11-24 | Honda Motor Co., Ltd | Humanoid fall damage reduction |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
EP3377278B1 (en) * | 2015-11-16 | 2022-04-06 | Parker-Hannifin Corporation | Fall mitigation and recovery methods for a legged mobility exoskeleton device |
CN106363641B (zh) * | 2016-11-15 | 2018-09-14 | 乐聚(深圳)机器人技术有限公司 | 智能机器人 |
CN106976492B (zh) * | 2017-05-12 | 2023-03-21 | 吉林大学 | 一种轮足复合式仿生六足机器人腿部机构 |
CN110329384B (zh) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | 一种可避障的爬网机器人 |
CN114802526A (zh) * | 2022-06-02 | 2022-07-29 | 吉林大学 | 一种仿生被动增稳防滑足 |
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NL199573A (ko) * | 1954-08-09 | |||
US4462476A (en) * | 1981-04-10 | 1984-07-31 | Nikolay Shkolnik | Walking apparatus |
JPS63150176A (ja) * | 1986-12-15 | 1988-06-22 | 工業技術院長 | 動的歩行ロボツトの歩行制御方法 |
US5255753A (en) * | 1989-12-14 | 1993-10-26 | Honda Giken Kogyo Kabushiki Kaisha | Foot structure for legged walking robot |
JPH05285864A (ja) | 1992-04-08 | 1993-11-02 | Toshiba Corp | 二足移動歩行装置 |
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EP2106886B1 (en) * | 2002-04-26 | 2011-03-23 | Honda Giken Kogyo Kabushiki Kaisha | Self-position estimating device for leg type movable robots |
-
2002
- 2002-05-10 JP JP2002136029A patent/JP3938326B2/ja not_active Expired - Fee Related
-
2003
- 2003-05-07 WO PCT/JP2003/005699 patent/WO2003095156A1/ja active Application Filing
- 2003-05-07 AU AU2003235870A patent/AU2003235870A1/en not_active Abandoned
- 2003-05-07 US US10/513,827 patent/US7896112B2/en not_active Expired - Fee Related
- 2003-05-07 KR KR1020047017950A patent/KR100675057B1/ko active IP Right Grant
Also Published As
Publication number | Publication date |
---|---|
AU2003235870A8 (en) | 2003-11-11 |
WO2003095156A1 (fr) | 2003-11-20 |
JP3938326B2 (ja) | 2007-06-27 |
KR20050018674A (ko) | 2005-02-23 |
US20060011391A1 (en) | 2006-01-19 |
US7896112B2 (en) | 2011-03-01 |
JP2003326490A (ja) | 2003-11-18 |
AU2003235870A1 (en) | 2003-11-11 |
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