KR100863028B1 - 2족형 이동기구 - Google Patents

2족형 이동기구 Download PDF

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Publication number
KR100863028B1
KR100863028B1 KR1020070039153A KR20070039153A KR100863028B1 KR 100863028 B1 KR100863028 B1 KR 100863028B1 KR 1020070039153 A KR1020070039153 A KR 1020070039153A KR 20070039153 A KR20070039153 A KR 20070039153A KR 100863028 B1 KR100863028 B1 KR 100863028B1
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KR
South Korea
Prior art keywords
leg
link
fuselage
actuator
wheel
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Expired - Fee Related
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KR1020070039153A
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English (en)
Korean (ko)
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KR20070104847A (ko
Inventor
아즈사 아미노
료스케 나카무라
준이치 다마모토
Original Assignee
가부시키가이샤 히타치세이사쿠쇼
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Publication of KR20070104847A publication Critical patent/KR20070104847A/ko
Application granted granted Critical
Publication of KR100863028B1 publication Critical patent/KR100863028B1/ko
Expired - Fee Related legal-status Critical Current
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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • 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
    • B62D57/022—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 consisting of members having both rotational and walking movements
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
KR1020070039153A 2006-04-24 2007-04-23 2족형 이동기구 Expired - Fee Related KR100863028B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006118677A JP4797775B2 (ja) 2006-04-24 2006-04-24 ２足型移動機構
JPJP-P-2006-00118677 2006-04-24

Publications (2)

Publication Number Publication Date
KR20070104847A KR20070104847A (ko) 2007-10-29
KR100863028B1 true KR100863028B1 (ko) 2008-10-10

Family

ID=38761177

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020070039153A Expired - Fee Related KR100863028B1 (ko) 2006-04-24 2007-04-23 2족형 이동기구

Country Status (2)

Country Link
JP (1) JP4797775B2 (enExample)
KR (1) KR100863028B1 (enExample)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101791800B (zh) * 2010-01-21 2011-05-25 西北工业大学 一种双轮差动式机器人运动控制方法
KR101216804B1 (ko) 2009-12-03 2012-12-28 가부시키가이샤 히타치세이사쿠쇼 이동 로봇 및 그 주행 안정화 방법
CN109070331A (zh) * 2016-04-05 2018-12-21 株式会社日立制作所 仿人机器人
CN111976861A (zh) * 2020-08-28 2020-11-24 东北林业大学 一种车轮和机械腿关节复用电机传动系统及驱动方法

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KR100919670B1 (ko) * 2008-01-04 2009-09-30 부산대학교 산학협력단 자동 주행 및 자세제어가 가능한 외바퀴 로봇
JP4982413B2 (ja) * 2008-03-19 2012-07-25 株式会社日立製作所 脚車輪型移動ロボット
WO2009143377A2 (en) * 2008-05-21 2009-11-26 Georgia Tech Research Corporation Force balancing mobile robotic system
JP4766346B2 (ja) * 2008-08-21 2011-09-07 ブルボン電子株式会社 ロボット犬
JP2011045973A (ja) * 2009-08-28 2011-03-10 Hitachi Ltd ロボット
JP5511523B2 (ja) * 2010-06-04 2014-06-04 地方独立行政法人東京都立産業技術研究センター 二脚型移動装置
JP2016155216A (ja) * 2015-02-23 2016-09-01 Ｍｋ電産株式会社 ２足歩行ロボット用無限軌道装置
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
CN105539627B (zh) * 2015-12-25 2018-01-26 谭春升 一种代步工具
KR101886125B1 (ko) * 2016-12-12 2018-08-08 한국기술교육대학교 산학협력단 변형 가능한 밸런싱 로봇
JP6701111B2 (ja) * 2017-03-29 2020-05-27 株式会社クボタ 作業車
CN110461690A (zh) * 2017-03-29 2019-11-15 株式会社久保田 作业车
JP6745751B2 (ja) * 2017-03-29 2020-08-26 株式会社クボタ 作業車
JP6739387B2 (ja) * 2017-03-29 2020-08-12 株式会社クボタ 作業車
JP6701112B2 (ja) * 2017-03-29 2020-05-27 株式会社クボタ 作業車
JP6745750B2 (ja) * 2017-03-29 2020-08-26 株式会社クボタ 作業車
CN110494349B (zh) * 2017-03-29 2022-12-13 株式会社久保田 作业车
JP7117989B2 (ja) * 2017-12-25 2022-08-15 株式会社クボタ 作業車
EP3733487B1 (en) * 2017-12-25 2025-07-30 Kubota Corporation Work vehicle
JP6758277B2 (ja) * 2017-12-25 2020-09-23 株式会社クボタ 作業車
WO2019131573A1 (ja) * 2017-12-25 2019-07-04 株式会社クボタ 作業車
CN108216412B (zh) * 2017-12-26 2023-11-28 国网浙江省电力有限公司台州供电公司 一种轮腿式机器人
CN111301548B (zh) * 2020-03-27 2025-05-27 之江实验室 一种具有双足/四轮/四足运动模式的可重构足式机器人
CN111516773B (zh) * 2020-04-02 2025-05-27 之江实验室 一种具有多种运动模式的可重构双足机器人
CN111942493B (zh) * 2020-08-21 2021-05-25 常州大学 一种主被动复合模式的四足越障机器人
CN112373593A (zh) * 2020-11-18 2021-02-19 中国矿业大学 一种基于五杆机构的轮腿混合驱动矿用机器人
CN114764241B (zh) 2021-01-14 2025-02-18 腾讯科技（深圳）有限公司 运动状态的控制方法、装置、设备及可读存储介质
CN112776915B (zh) * 2021-01-28 2022-06-07 南方科技大学 多姿态双足机器人
CN112776913B (zh) * 2021-01-28 2022-06-07 南方科技大学 双足机器人
CN112776914B (zh) * 2021-01-28 2022-08-12 南方科技大学 双足机器人
CN116395054A (zh) * 2021-02-04 2023-07-07 深圳逐际动力科技有限公司 可变形态的腿部结构及机器人
CN116490324A (zh) 2021-04-26 2023-07-25 生命枢纽有限公司 移动装置
CN113928440B (zh) * 2021-10-28 2023-03-31 李金波 一种可自由切换运动模式的机器人
WO2023093869A1 (zh) * 2021-11-26 2023-06-01 北京可以科技有限公司 一种机器人
KR102733427B1 (ko) * 2022-03-11 2024-11-25 엘지전자 주식회사 로봇 및 로봇의 제어 방법
CN114734470B (zh) * 2022-03-16 2024-04-12 燕山大学 多形态变换爪足机构
CN114987643B (zh) * 2022-06-21 2023-08-08 上海工程技术大学 一种可实现轮腿两态切换及高矮宽窄变化的仿生机器人
CN115123419A (zh) * 2022-07-29 2022-09-30 广东亿嘉和科技有限公司 一种具备力平衡及中空走线的轮足机器人腿部及工作方法
KR102881093B1 (ko) * 2023-03-06 2025-11-05 엘지전자 주식회사 로봇 및 로봇의 제어방법
WO2025143691A1 (ko) * 2023-12-28 2025-07-03 주식회사에이로봇 보행 로봇의 발
KR20250132780A (ko) * 2024-02-29 2025-09-05 삼성전자주식회사 이동 로봇
WO2025244461A1 (ko) * 2024-05-24 2025-11-27 엘지전자 주식회사 로봇
CN119370216A (zh) * 2024-10-24 2025-01-28 广州汽车集团股份有限公司 智能移动终端及其控制系统、控制方法
CN119370217A (zh) * 2024-10-24 2025-01-28 广州汽车集团股份有限公司 智能移动终端及其控制系统、控制方法

Citations (2)

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JP2004055967A (ja) * 2002-07-23 2004-02-19 Matsushita Electric Ind Co Ltd 電子部品内蔵基板の製造方法
JP2004068438A (ja) * 2002-08-07 2004-03-04 Kurashiki Kako Co Ltd 標示用ポール

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JPH05285864A (ja) * 1992-04-08 1993-11-02 Toshiba Corp 二足移動歩行装置
JP4272336B2 (ja) * 2000-08-11 2009-06-03 株式会社バンダイ 歩行装置
JP2003019363A (ja) * 2001-07-09 2003-01-21 Koji Yamana 簡単な構成で２足歩行動作を行うラジコン２足歩行ロボット
JP4258456B2 (ja) * 2004-09-14 2009-04-30 トヨタ自動車株式会社 ロボット

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2004055967A (ja) * 2002-07-23 2004-02-19 Matsushita Electric Ind Co Ltd 電子部品内蔵基板の製造方法
JP2004068438A (ja) * 2002-08-07 2004-03-04 Kurashiki Kako Co Ltd 標示用ポール

Non-Patent Citations (2)

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Title
공개특허 제2004-55967호
공개특허 제2004-68438호

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101216804B1 (ko) 2009-12-03 2012-12-28 가부시키가이샤 히타치세이사쿠쇼 이동 로봇 및 그 주행 안정화 방법
CN101791800B (zh) * 2010-01-21 2011-05-25 西北工业大学 一种双轮差动式机器人运动控制方法
CN109070331A (zh) * 2016-04-05 2018-12-21 株式会社日立制作所 仿人机器人
CN111976861A (zh) * 2020-08-28 2020-11-24 东北林业大学 一种车轮和机械腿关节复用电机传动系统及驱动方法
CN111976861B (zh) * 2020-08-28 2022-04-22 东北林业大学 一种车轮和机械腿关节复用电机传动系统及驱动方法

Also Published As

Publication number Publication date
JP4797775B2 (ja) 2011-10-19
KR20070104847A (ko) 2007-10-29
JP2007290054A (ja) 2007-11-08

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