KR101004980B1 - 보행 로봇의 충격 흡수 기구 - Google Patents

보행 로봇의 충격 흡수 기구 Download PDF

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Publication number
KR101004980B1
KR101004980B1 KR1020057004310A KR20057004310A KR101004980B1 KR 101004980 B1 KR101004980 B1 KR 101004980B1 KR 1020057004310 A KR1020057004310 A KR 1020057004310A KR 20057004310 A KR20057004310 A KR 20057004310A KR 101004980 B1 KR101004980 B1 KR 101004980B1
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KR
South Korea
Prior art keywords
upper substrate
axis
substrate
lower substrate
shock absorbing
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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KR1020057004310A
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English (en)
Korean (ko)
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KR20050063766A (ko
Inventor
나루히코 오오타
도시카즈 가와사키
다카마사 이소즈미
Original Assignee
가와다 고교 가부시키가이샤
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Publication date
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Publication of KR20050063766A publication Critical patent/KR20050063766A/ko
Application granted granted Critical
Publication of KR101004980B1 publication Critical patent/KR101004980B1/ko
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Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • A63H11/18—Figure toys which perform a realistic walking motion
    • 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
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • 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
    • 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
    • Y10T74/20341—Power elements as controlling elements
    • Y10T74/20354—Planar surface with orthogonal movement only

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
KR1020057004310A 2002-09-13 2003-09-10 보행 로봇의 충격 흡수 기구 Expired - Fee Related KR101004980B1 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002268966A JP4049644B2 (ja) 2002-09-13 2002-09-13 歩行ロボットの衝撃吸収機構
JPJP-P-2002-00268966 2002-09-13

Publications (2)

Publication Number Publication Date
KR20050063766A KR20050063766A (ko) 2005-06-28
KR101004980B1 true KR101004980B1 (ko) 2011-01-04

Family

ID=31986799

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020057004310A Expired - Fee Related KR101004980B1 (ko) 2002-09-13 2003-09-10 보행 로봇의 충격 흡수 기구

Country Status (7)

Country Link
US (1) US7525275B2 (enExample)
EP (1) EP1550533B1 (enExample)
JP (1) JP4049644B2 (enExample)
KR (1) KR101004980B1 (enExample)
AU (1) AU2003262061A1 (enExample)
DE (1) DE60333659D1 (enExample)
WO (1) WO2004024400A1 (enExample)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5171290B2 (ja) * 2007-02-02 2013-03-27 本田技研工業株式会社 脚式移動ロボット
US7905303B2 (en) * 2009-02-10 2011-03-15 Honda Motor Co., Ltd. Legged locomotion robot
CN101823517B (zh) * 2010-05-11 2011-09-28 浙江大学 仿人机器人的柔性足部机构
JP6179349B2 (ja) * 2013-10-28 2017-08-16 セイコーエプソン株式会社 スカラロボット
CN108068908B (zh) * 2017-12-29 2023-10-10 深圳市优必选科技有限公司 机器人脚板结构和人形机器人

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5667631A (en) 1979-11-01 1981-06-06 Mazda Motor Corp Supporting apparatus for differential gear case of rear- drive car
JPH05293776A (ja) * 1992-04-20 1993-11-09 Honda Motor Co Ltd 脚式歩行ロボットの足部構造
JP2003214963A (ja) * 2002-01-18 2003-07-30 National Institute Of Advanced Industrial & Technology 低剛性力検出方法及び装置

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5255753A (en) * 1989-12-14 1993-10-26 Honda Giken Kogyo Kabushiki Kaisha Foot structure for legged walking robot
JPH04175527A (ja) * 1990-11-06 1992-06-23 Bando Chem Ind Ltd 圧入型ゴムブッシュ
JP3167404B2 (ja) * 1992-02-26 2001-05-21 本田技研工業株式会社 ロボットの関節駆動制御装置
US5455497A (en) * 1992-04-20 1995-10-03 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot and a system for controlling the same
US5416393A (en) * 1992-05-20 1995-05-16 Honda Giken Kogyo Kabushiki Kaisha Legged mobile robot foot structure
US5445497A (en) * 1993-12-27 1995-08-29 Seemar; George H. Variable pitch propellers
JP3649865B2 (ja) 1997-07-23 2005-05-18 本田技研工業株式会社 脚式移動ロボットの脚構造
EP1048563A3 (en) * 1999-04-30 2001-04-11 Lord Corporation Self-centering bearing for aircraft control surfaces
JP4213310B2 (ja) * 1999-08-30 2009-01-21 本田技研工業株式会社 ２足歩行脚式移動ロボット
JP4279425B2 (ja) * 1999-11-05 2009-06-17 本田技研工業株式会社 脚式歩行ロボットの足部構造
TW499349B (en) * 2000-11-17 2002-08-21 Sony Corp Legged mobile robot, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot
JP3672867B2 (ja) * 2001-12-25 2005-07-20 本田技研工業株式会社 脚式移動ロボットの着床衝撃緩衝装置
JP3726057B2 (ja) * 2001-12-28 2005-12-14 本田技研工業株式会社 脚式移動ロボットおよびその床反力検出装置
KR100571839B1 (ko) * 2004-03-31 2006-04-17 삼성전자주식회사 인간형 로봇
JP4495549B2 (ja) * 2004-08-30 2010-07-07 本田技研工業株式会社 脚式移動ロボット
JP4504768B2 (ja) * 2004-09-17 2010-07-14 本田技研工業株式会社 脚式移動ロボット

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5667631A (en) 1979-11-01 1981-06-06 Mazda Motor Corp Supporting apparatus for differential gear case of rear- drive car
JPH05293776A (ja) * 1992-04-20 1993-11-09 Honda Motor Co Ltd 脚式歩行ロボットの足部構造
JP2003214963A (ja) * 2002-01-18 2003-07-30 National Institute Of Advanced Industrial & Technology 低剛性力検出方法及び装置

Also Published As

Publication number Publication date
AU2003262061A1 (en) 2004-04-30
JP2004106077A (ja) 2004-04-08
DE60333659D1 (enExample) 2010-09-16
EP1550533A1 (en) 2005-07-06
US7525275B2 (en) 2009-04-28
KR20050063766A (ko) 2005-06-28
JP4049644B2 (ja) 2008-02-20
EP1550533A4 (en) 2007-12-12
WO2004024400A1 (ja) 2004-03-25
US20060237241A1 (en) 2006-10-26
EP1550533B1 (en) 2010-08-04

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