WO2003039819A1 - Dispositif d'assistance articulaire de jambe pour un robot deplacable de type jambe - Google Patents

Dispositif d'assistance articulaire de jambe pour un robot deplacable de type jambe Download PDF

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Publication number
WO2003039819A1
WO2003039819A1 PCT/JP2002/010418 JP0210418W WO03039819A1 WO 2003039819 A1 WO2003039819 A1 WO 2003039819A1 JP 0210418 W JP0210418 W JP 0210418W WO 03039819 A1 WO03039819 A1 WO 03039819A1
Authority
WO
WIPO (PCT)
Prior art keywords
leg
driving force
joint
assist device
predetermined angle
Prior art date
Application number
PCT/JP2002/010418
Other languages
English (en)
French (fr)
Inventor
Toru Takenaka
Hiroshi Gomi
Kazushi Hamaya
Yoshinari Takemura
Original Assignee
Honda Giken Kogyo Kabushiki Kaisha
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Honda Giken Kogyo Kabushiki Kaisha filed Critical Honda Giken Kogyo Kabushiki Kaisha
Priority to EP02775300A priority Critical patent/EP1464454B1/en
Priority to DE60231006T priority patent/DE60231006D1/de
Priority to US10/494,846 priority patent/US7143850B2/en
Publication of WO2003039819A1 publication Critical patent/WO2003039819A1/ja

Links

Classifications

    • 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
    • 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
    • B25J19/0008—Balancing devices
    • B25J19/0012—Balancing devices using fluidic devices
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
PCT/JP2002/010418 2001-11-09 2002-10-07 Dispositif d'assistance articulaire de jambe pour un robot deplacable de type jambe WO2003039819A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP02775300A EP1464454B1 (en) 2001-11-09 2002-10-07 Leg joint assist device for leg type movable robot
DE60231006T DE60231006D1 (de) 2001-11-09 2002-10-07 Beingelenkunterstützungsvorrichtung für beweglichen roboter mit beinen
US10/494,846 US7143850B2 (en) 2001-11-09 2002-10-07 Leg joint assist device for legged movable robot

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2001345428A JP3665013B2 (ja) 2001-11-09 2001-11-09 脚式移動ロボットの脚体関節アシスト装置
JP2001-345428 2001-11-09

Publications (1)

Publication Number Publication Date
WO2003039819A1 true WO2003039819A1 (fr) 2003-05-15

Family

ID=19158763

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2002/010418 WO2003039819A1 (fr) 2001-11-09 2002-10-07 Dispositif d'assistance articulaire de jambe pour un robot deplacable de type jambe

Country Status (5)

Country Link
US (1) US7143850B2 (ja)
EP (1) EP1464454B1 (ja)
JP (1) JP3665013B2 (ja)
DE (1) DE60231006D1 (ja)
WO (1) WO2003039819A1 (ja)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945983A (zh) * 2016-04-20 2016-09-21 吉林大学 一种用于双足步行机器人的节能减震仿生膝关节
WO2018120154A1 (zh) * 2016-12-30 2018-07-05 深圳配天智能技术研究院有限公司 用于工业机器人的平衡系统及工业机器人
CN109178136A (zh) * 2018-08-29 2019-01-11 北京钢铁侠科技有限公司 机器人下肢结构及包含该结构的机器人
CN110386204A (zh) * 2019-07-17 2019-10-29 河北工业大学 基于ipmc与硅胶材料的柔性关节四足机器人单腿系统
CN117068293A (zh) * 2023-10-16 2023-11-17 太原理工大学 一种双足仿生跳跃机器人

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* Cited by examiner, † Cited by third party
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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
JP3938326B2 (ja) * 2002-05-10 2007-06-27 川田工業株式会社 ロボット用付加的支持構造
US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
JP4526332B2 (ja) * 2004-09-06 2010-08-18 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
JP2006082155A (ja) * 2004-09-14 2006-03-30 Atsuo Takanishi 歩行パターン作成装置、２足歩行ロボット装置、歩行パターン作成方法、２足歩行ロボット装置の制御方法、プログラムおよび記録媒体
JP2006088258A (ja) 2004-09-22 2006-04-06 Honda Motor Co Ltd 脚式移動ロボットの脚体関節アシスト装置
KR100563961B1 (ko) 2004-12-06 2006-03-29 주식회사 로보쓰리 4족보행 로보트
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
WO2007032120A1 (ja) * 2005-09-14 2007-03-22 Tmsuk Co., Ltd. 歩行パターン作成装置、２足歩行ロボット装置、歩行パターン作成方法、２足歩行ロボット装置の制御方法、プログラムおよび記録媒体
JP4930003B2 (ja) * 2006-11-20 2012-05-09 株式会社日立製作所 移動ロボット
KR100860818B1 (ko) 2007-05-21 2008-09-30 충주대학교 산학협력단 보행 안정성 향상을 위한 유압제어방식의 자세제어장치를구비한 보행로봇 및 그 제어방법
JP5071140B2 (ja) * 2008-02-14 2012-11-14 トヨタ自動車株式会社 脚式ロボット、及びその制御方法
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
US9554922B2 (en) 2008-09-04 2017-01-31 Bionx Medical Technologies, Inc. Hybrid terrain-adaptive lower-extremity systems
US20110082566A1 (en) 2008-09-04 2011-04-07 Herr Hugh M Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
US8042403B2 (en) * 2008-10-07 2011-10-25 Raytheon Company Apparatus to control a linearly decreasing force
CN101991957A (zh) * 2009-08-26 2011-03-30 鸿富锦精密工业（深圳）有限公司 行走装置
JP2011045973A (ja) * 2009-08-28 2011-03-10 Hitachi Ltd ロボット
US20110295384A1 (en) 2010-04-05 2011-12-01 Herr Hugh M Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
JP5468973B2 (ja) * 2010-04-22 2014-04-09 本田技研工業株式会社 脚式移動ロボット
JP5370392B2 (ja) * 2011-02-23 2013-12-18 株式会社安川電機 ロボットシステム、ロボット制御装置およびロボット制御方法
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
KR101278527B1 (ko) * 2011-09-15 2013-06-25 대우조선해양 주식회사 링크 실린더 엑츄에이터 및 링크 실린더 엑츄에이터를 구비한 착용로봇
WO2013067407A1 (en) 2011-11-02 2013-05-10 Iwalk, Inc. Biomimetic transfemoral prosthesis
CN102494910B (zh) * 2011-11-30 2013-09-11 北京航空航天大学 一种适用于柔性腿式机器人的性能测试装置
EP2858602A2 (en) 2012-06-12 2015-04-15 Iwalk, Inc. Prosthetic, orthotic or exoskeleton device
KR101420569B1 (ko) * 2013-04-23 2014-07-17 서강대학교산학협력단 다리유닛 및 이를 포함하는 주행로봇
CN103407513B (zh) * 2013-05-13 2015-08-19 清华大学 采用弹簧耦合的平地动力式双足机器人行走方法
CN103387017B (zh) * 2013-08-13 2015-09-16 戴文钟 利用连杆模拟人体屈膝动作的机器人膝部结构
CN104044422B (zh) * 2014-06-09 2016-05-11 北方民族大学 突发灾害下承压设备安全检测机器人
CN104149871B (zh) * 2014-07-17 2017-02-15 华中科技大学 一种具有储能效应的仿生四足机器人
CN104742997B (zh) * 2015-03-26 2017-04-12 重庆邮电大学 双扭摇杆式被动行走器
CN105346618B (zh) * 2015-11-20 2017-11-14 清华大学 基于串联弹性驱动器的带上身双足机器人平地行走方法
FR3046099B1 (fr) * 2015-12-24 2017-12-22 Sagem Defense Securite Structure d'exosquelette pour l'assistance a l'effort d'un utilisateur
CN105584556B (zh) * 2016-03-10 2017-08-01 中国北方车辆研究所 一种四足武装机器人摔倒防护装置
CN106564539B (zh) * 2016-11-18 2019-08-02 深圳市行者机器人技术有限公司 双足半被动对分上体行走装置
CN106826759B (zh) * 2016-12-29 2024-02-09 深圳市优必选科技有限公司 脚部结构及人形机器人
CN107128394B (zh) * 2017-05-11 2019-02-19 上海大学 一种仿生四足机器人腿机构
US10421510B2 (en) * 2017-07-25 2019-09-24 Sphero, Inc. Three-legged robotic apparatus
JP6941037B2 (ja) * 2017-11-24 2021-09-29 川崎重工業株式会社 ロボットの膝構造
CN108237557B (zh) * 2018-02-02 2023-08-04 深圳市优必选科技有限公司 一种人形机器活动关节受力测试装置
US10719085B2 (en) * 2018-02-22 2020-07-21 Boston Dynamics, Inc. Mobile robot sitting and standing
CN108860359A (zh) * 2018-05-11 2018-11-23 浙江大学 一种内嵌集成电液作动器的足式机器人膝关节
CN109178138B (zh) * 2018-10-25 2020-06-09 中石化石油机械股份有限公司 一种四足机器人及腿部关节结构
CA3119576C (en) * 2018-11-13 2024-01-30 Nec Corporation Load reduction device, control device, load reduction method, and storage medium for storing program
JP7089460B2 (ja) * 2018-11-30 2022-06-22 川崎重工業株式会社 ガス圧検知装置、ガス圧検知装置を備えるロボット及びそのガス圧検知方法
CN109718066A (zh) * 2018-12-14 2019-05-07 王东伟 一种中医骨科下肢骨折用行走辅助器
CN110897457B (zh) * 2019-12-09 2021-04-09 厦门理工学院 一种鞋子展示机器人
CN113602377A (zh) * 2021-07-08 2021-11-05 广东工业大学 一种具有缓冲功能的腿部机构及其机器人
CN114131584A (zh) * 2021-12-21 2022-03-04 彭丽 一种人体骨骼运动辅助平衡方法
CN114952790B (zh) * 2022-05-20 2024-09-24 广州大学 一种助力外骨骼
CN115320744B (zh) * 2022-10-17 2023-01-10 成都理工大学 四关节液压足式机器人腿
JP2024102435A (ja) * 2023-01-19 2024-07-31 トヨタ自動車株式会社 ロボットの関節構造
CN117207237B (zh) * 2023-11-09 2024-02-02 之江实验室 关节系统及机器人

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105945983A (zh) * 2016-04-20 2016-09-21 吉林大学 一种用于双足步行机器人的节能减震仿生膝关节
WO2018120154A1 (zh) * 2016-12-30 2018-07-05 深圳配天智能技术研究院有限公司 用于工业机器人的平衡系统及工业机器人
CN109641356A (zh) * 2016-12-30 2019-04-16 深圳配天智能技术研究院有限公司 用于工业机器人的平衡系统及工业机器人
CN109178136A (zh) * 2018-08-29 2019-01-11 北京钢铁侠科技有限公司 机器人下肢结构及包含该结构的机器人
CN109178136B (zh) * 2018-08-29 2024-03-08 北京钢铁侠科技有限公司 机器人下肢结构及包含该结构的机器人
CN110386204A (zh) * 2019-07-17 2019-10-29 河北工业大学 基于ipmc与硅胶材料的柔性关节四足机器人单腿系统
CN110386204B (zh) * 2019-07-17 2024-01-02 河北工业大学 基于ipmc与硅胶材料的柔性关节四足机器人单腿系统
CN117068293A (zh) * 2023-10-16 2023-11-17 太原理工大学 一种双足仿生跳跃机器人
CN117068293B (zh) * 2023-10-16 2024-01-16 太原理工大学 一种双足仿生跳跃机器人

Also Published As

Publication number Publication date
US7143850B2 (en) 2006-12-05
EP1464454B1 (en) 2009-01-21
US20040261561A1 (en) 2004-12-30
EP1464454A4 (en) 2008-03-12
EP1464454A1 (en) 2004-10-06
JP3665013B2 (ja) 2005-06-29
JP2003145477A (ja) 2003-05-20
DE60231006D1 (de) 2009-03-12

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