WO2004103650A1 - 脚式移動ロボット - Google Patents
脚式移動ロボット Download PDFInfo
- Publication number
- WO2004103650A1 WO2004103650A1 PCT/JP2004/007064 JP2004007064W WO2004103650A1 WO 2004103650 A1 WO2004103650 A1 WO 2004103650A1 JP 2004007064 W JP2004007064 W JP 2004007064W WO 2004103650 A1 WO2004103650 A1 WO 2004103650A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotating shaft
- motor
- shaft
- axis
- rotation
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- 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
-
- 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
Definitions
- the present invention relates to a legged mobile robot, and more particularly, to a crotch joint structure of a legged mobile robot.
- a parallel link mechanism is provided at the hip joint to connect the left and right legs, and when the free leg lands, By operating the parallel link mechanism to drive the landing leg upward, the landing impact is reduced.
- a rotation axis that generates a degree of freedom around the y-axis. Is offset in the roll axis direction to avoid interference between the feet when the mouth pot changes direction.
- the upper body is divided into an upper part and a lower part, and they are connected via a joint having a degree of freedom about a pitch axis.
- the relative rotation around the axis reduces the amount of upper body flexion of the hip joint.
- Insufficient range of motion of the hip joint means that it is not possible to secure a large range of motion for the legs at the same time as the amount of flexion of the upper body is insufficient.
- the range of motion of the legs is not increased at all, and the lower body is not increased.
- an object of the present invention is to increase the amount of flexion of the upper body and the range of motion of the legs, improve the posture and the degree of freedom of gait, and do not reduce the accommodation of equipment in the upper body.
- An object of the present invention is to provide a legged mobile robot.
- a legged mobile robot comprising: a knee joint; and a leg having an ankle joint connecting the lower leg link and the foot, wherein the hip joint generates a degree of freedom about a haw axis. It has a first rotation axis, a second rotation axis that generates degrees of freedom around the roll axis, and a third rotation axis that generates degrees of freedom around the pitch axis, and further generates redundant degrees of freedom. And a fourth rotating shaft.
- the hip joint connecting the upper body and the thigh link includes the first rotation axis that generates the degree of freedom around the axis, the second rotation axis that generates the degree of freedom around the roll axis, and the And a fourth rotation axis for generating a degree of freedom, so that the amount of flexion of the upper body and the leg Since the range of motion can be increased, the degree of freedom in posture and gait can be improved.
- the upper body since the upper body is not divided, the accommodation capacity of the equipment in the upper body does not decrease.
- the hip joint is connected to the upper body via any one of the first to third rotation shafts.
- a first member, a second member connected to the upper leg link via the remaining rotation axis of the third rotation axis from the first force, and the first member and the second member are configured to be connected via the fourth rotation shaft.
- the first member connected to the body via any one of the first to third rotation shafts, and the remaining rotation axis of the first to third rotation shafts A second member connected to the upper leg link via a fourth rotation shaft, and the first member and the second member are connected via a fourth rotation shaft.
- the amount of flexion of the upper body and the range of motion of the legs can be increased, and the degree of freedom in posture and gait can be improved.
- the present invention is configured such that the fourth rotation axis is a rotation axis that is non-parallel to the single axis, as described in claim 3 described later.
- the fourth rotation axis is configured to be a rotation axis that is non-parallel to the one axis of the robot, so that the amount of bending of the upper body and the movable range of the legs are the same as in claim 1. Can be increased, and the degree of freedom in posture and gait can be improved.
- the present invention is configured such that the fourth rotation shaft is disposed forward of the first rotation shaft in the roll axis direction, as described in claim 4 described later.
- the first rotation shaft motor driving the first rotation shaft and the output of the first rotation shaft motor are reduced.
- a first rotating shaft reducer, and the first rotating shaft motor and the first rotating shaft reducer are arranged such that their output shafts are coaxial with the first rotating shaft. It was configured as follows.
- the motor for the first rotating shaft includes the motor for the first rotating shaft that drives the first rotating shaft, and the speed reducer for the first rotating shaft that reduces the output of the motor for the first rotating shaft.
- the motor and the first rotary shaft reducer are arranged so that their output shafts are coaxial with the first rotary shaft.
- the structure of the system can be made compact.
- a motor for the second rotating shaft that drives the second rotating shaft, and the output of the motor for the second rotating shaft are reduced.
- a second rotary shaft reducer, and the second rotary shaft motor and the second rotary shaft reducer are arranged such that their output shafts are coaxial with the second rotary shaft. Configured.
- the motor for the second rotating shaft includes the motor for the second rotating shaft that drives the second rotating shaft, and the speed reducer for the second rotating shaft that reduces the output of the motor for the second rotating shaft.
- the motor and the speed reducer for the second rotating shaft are arranged so that their output shafts are coaxial with the second rotating shaft.
- the structure of the output transmission system can be made compact.
- a third rotating shaft motor that drives the third rotating shaft, and the output of the third rotating shaft motor are reduced.
- a third reduction shaft reducer; and the third reduction shaft reducer is arranged such that an output shaft thereof is coaxial with the third rotation shaft.
- the motor for the third rotating shaft which drives the third rotating shaft
- the speed reducer for the third rotating shaft which reduces the output of the motor for the third rotating shaft
- the structure of the output transmission system for the third rotation shaft can be made compact.
- the other transmission elements required to drive the third rotary shaft are the third rotary shaft motor. And only the one disposed between the third rotary shaft reducer.
- Such a transmission element only needs to transmit a small driving force before deceleration (that is, the output of the third rotary shaft motor) to the third rotary shaft reducer, so that the transmission capacity can be set small. You. Therefore, since a relatively lightweight transmission element can be used, even if the distance between the electric motor and the reduction gear is increased and the transmission element is extended, a large increase in weight is not caused. The degree of freedom in the position of the electric motor for the rotating shaft can be improved.
- the present invention includes a fourth rotating shaft motor that drives the fourth rotating shaft, and the fourth rotating shaft motor includes the fourth rotating shaft motor, as described in claim 8 described below.
- the motor for the fourth rotating shaft for driving the fourth rotating shaft is provided, and the motor for the fourth rotating shaft is provided.
- the motor for the fourth rotating shaft is not subject to rotation of the fourth rotating shaft. It is possible to reduce the moment of inertia generated at the legs at times.
- the present invention includes a fourth rotary shaft reducer for reducing the output of the fourth rotary shaft motor, as described in claim 9 described later, and the fourth rotary shaft reducer.
- the fourth rotary shaft reducer are arranged such that their output shafts are coaxial with the fourth rotation shaft.
- the fourth rotary shaft reducer for reducing the output of the fourth rotary shaft motor is provided, and the output shaft of the fourth rotary shaft reducer is coaxial with the fourth rotary shaft.
- the structure of the output transmission system related to the fourth rotation axis can be made compact.
- the other transmission elements required to drive the fourth rotary shaft are the fourth rotary shaft motor. And only the one arranged between the 4th shaft reduction gear.
- Such a transmission element only needs to transmit a small driving force before deceleration (ie, the output of the fourth rotary shaft motor) to the fourth rotary shaft reducer, so that the transmission capacity can be set small. .
- a relatively lightweight transmission element can be used, so that even if the distance between the electric motor and the reduction gear is increased and the transmission element is extended, a large increase in weight is not caused.
- the degree of freedom of the arrangement position of the electric motor for the four rotation shaft can be improved.
- the present invention provides a second rotating shaft motor for driving the second rotating shaft, and a fourth rotating shaft for driving the fourth rotating shaft, as described in claim 10 described later. And the second member and the upper leg link are connected via at least the second rotating shaft, and the fourth rotating shaft motor is located on the upper body side relative to the second rotating shaft motor. It was configured to be arranged in.
- the second member and the upper leg link are connected via at least the second rotation axis.
- the fourth rotation axis is disposed on the upper body side with respect to the second rotation axis.
- the motor for the 4th rotating shaft is arranged on the upper body side with respect to the motor for the 2nd rotating shaft, the weight at the distal end of the leg is reduced (the position of the center of gravity of the leg from the distal side). Distance), and the 'I award moment' generated on the legs when the robot moves can be reduced. That is, by arranging the fourth rotation axis on the body side with respect to the second rotation axis, the number of members rotated by the fourth rotation axis is greater than the number of members rotated by the second rotation axis. .
- the fourth rotating shaft motor requires a larger driving force than the second rotating shaft motor, a larger and heavier motor is used. Therefore, by disposing the motor for the fourth rotating shaft above the motor for the second rotating shaft, it is possible to reduce the weight on the distal end side of the leg and to reduce the moment of inertia generated in the leg. .
- the present invention provides a motor for a third rotating shaft that drives the third rotating shaft, and a fourth rotating shaft that drives the fourth rotating shaft, as described in claim 11 described below.
- the second member and the upper leg link are connected via at least the third rotating shaft, and the fourth rotating shaft motor is located on the upper body side relative to the third rotating shaft motor. It was configured to be arranged in.
- the second member and the upper J3 retreat link are connected via at least the third rotation shaft.
- the fourth rotation shaft is disposed closer to the body than the third rotation shaft.
- the motor for the fourth rotating shaft is arranged on the upper side of the motor for the third rotating shaft, so that the weight at the distal end of the leg is reduced. Away from the robot), and the moment of inertia generated in the legs when the robot moves can be reduced. That is, by arranging the fourth rotation axis on the body side relative to the third rotation axis, the member rotated by the fourth rotation axis becomes a part rotated by the third rotation axis. More than wood.
- the motor for the fourth rotating shaft requires a larger driving force than the motor for the third rotating shaft, so it is larger and heavier! / ⁇ stuff is used. Therefore, by arranging the motor for the fourth rotating shaft on the upper side of the motor for the third rotating shaft, it is possible to reduce the weight on the distal end side of the leg and reduce the moment of inertia generated in the leg. .
- the fourth rotating shaft motor is disposed in the roll axis direction with the fourth rotating shaft sandwiching the center axis of the leg portion. It was configured to be arranged at a position facing the axis.
- the fourth rotary shaft motor is arranged at a position facing the fourth rotary shaft across the center axis of the leg in the roll axis direction, in addition to the effects described above, The balance of the center of gravity of the legs can be improved. Further, even when the upper body is largely bent forward, a large amount of forward bending can be obtained because the upper body and the motor for the fourth rotary shaft do not interfere with each other.
- the present invention is configured such that the first rotation axis is offset in the roll axis direction with respect to a center axis of the leg portion, as described in claim 13 described later.
- the first rotation axis is configured to be offset in the roll axis direction with respect to the center axis of the leg, interference between the feet when the leg is rotated can be suppressed. And the angle of rotation of the legs can be increased.
- the present invention is configured such that the second rotation axis and the third rotation axis are orthogonal to each other, as described in claim 14 described later.
- FIG. 1 is a schematic diagram of a legged mobile robot according to one embodiment of the present invention.
- FIG. 2 is a right side view showing the right leg of the mouth pot schematically shown in FIG. 1 in detail. is there.
- FIG. 3 is a front view showing the details of the right leg of the robot schematically shown in FIG.
- FIG. 4 is an explanatory diagram showing an example of the gait (inner thigh rotation) of the robot shown in FIG.
- FIG. 5 is an explanatory diagram showing an example of the gait of the robot shown in FIG.
- FIG. 6 is a schematic view showing an example of a driving direction of a hip joint pitch axis and a hip joint redundant axis when a compliance function is given to a leg in the robot shown in FIG.
- Fig. 7 compares the landing impact force of the robot shown in Fig. 1 when the hip joint pitch axis and hip joint redundant axis are driven in the opposite direction when the leg lands, and the landing impact force when the hip joint pitch axis and the hip joint redundant axis do not. It is a graph shown.
- FIG. 8 is a schematic diagram similar to FIG. 1, showing an example in which a degree of freedom other than around the pitch axis is generated by the hip joint redundant axis.
- FIG. 1 is a schematic diagram of a legged mobile robot according to this embodiment, more specifically, a bipedal walking port bot.
- a bipedal walking robot (hereinafter referred to as “robot”) 10 has left and right legs 12 R and 12 L (R on the right side and R on the left side; the same applies hereinafter).
- the left and right legs 12 R, 12 L are respectively hip joints 18 R, 18 L connecting the upper body 14 and the upper leg links 16 R, 16 L, and the upper leg links 16 R, Ankle joint connecting 16 L and lower leg link 2 OR, 20 L, Thai joint 22 R, 22 L, lower leg link 20 R, 20 L and foot 2 4 R, 24 L 26 R and 26 L.
- the hip joints 18 R and 18 L generate degrees of freedom around the bow axis (Z axis, vertical direction).
- the hip joint axes 18 RZ and 18 LZ (the first rotation axis described above) Axis (X axis .
- the roll direction of the hip joint 18RX, 18LX (the second rotation axis described above), which generates the degree of freedom of rotation, and the pitch axis (Y axis.
- the hip joint pitch axes 18RY and 18LY (the above-described third rotation axis) that generate the degrees of freedom around, and the hip joint redundant axes 18RR and 18LR that generate the degrees of freedom around the pitch axis (the above-described fourth rotations) Axis).
- the hip joint roll axes 18RX and 18LX and the hip joint pitch axes 18RY and 18LY are orthogonalized as shown in the figure.
- hip joints 18R, 18L include first hip links 30R, 30L (the first member described above) connected to the upper body 14 via hip joint shafts 18RZ, 18LZ, and hip joint roll shafts 18RX, 18L.
- Second hip links 32R, 32L (the second members described above) are connected to the upper leg links 16R, 16L via the LX and the hip pitch axes 18RY, 18LY.
- the first hip links 30R, 30L and the second hip links 32R, 32L are connected via redundant hip joint axes 18RR, 18LR.
- the first hip links 30R and 30L and the second hip links 32R and 32L are provided so that even if they form part of the hip joints 18R and 18L, they do not feel uncomfortable.
- the knee joints 22R and 22L include knee joint pitch axes 22RY and 22LY that generate degrees of freedom around the pitch axis.
- the ankle joints 26 R and 26L have an ankle roll axes 26 RX and 26 LX that generate degrees of freedom around the roll axis, and an ankle joint pitch axes 26 RY and 26 LY that generate degrees of freedom around the pitch axis. .
- Each of the rotating shafts described above is driven by each electric motor described below.
- a well-known 6-axis force sensor is attached between the ankle joints 26R, 26L and the feet 24R, 24L, and the three-directional components Fx, Fy, Fz of force and the three-directional components of moment MX, My, Mz is measured, and the presence or absence of landing on the legs 12R and 12L and the floor reaction force acting on the legs 12R and 12L from the floor surface are detected.
- An inclination sensor is installed on the upper body 14, and detects the inclination of the robot 10 with respect to the Z axis and its angular velocity. Also
- An electric motor that drives each rotating shaft is provided with a rotary encoder that detects the amount of rotation.
- the output of each of these sensors is input to a control unit housed in the upper body 14.
- the control unit calculates a control value of the motor that drives each rotating shaft based on the data stored in the memory and the input detection value. Since the method of calculating the control value is not the subject of the present invention, detailed description thereof will be omitted, and illustration of the above-described sensors and control cutouts used for it will also be omitted.
- the robot 10 is provided with seven rotation axes (degrees of freedom) for each of the left and right legs 12 R and 12 L.
- the upper body 14 is connected to an arm or a head as described in, for example, International Publication WO02 / 42026A1 pamphlet. Since there is no direct relationship with the gist, illustration and description are omitted.
- FIG. 2 is a right side view showing the leg portion 12R schematically shown in FIG. 1 in detail.
- FIG. 3 is a front view showing the leg portion 12R in detail.
- an electric motor 50 (hereinafter referred to as a “motor for the hip joint shaft”) that drives the hip joint shaft 18 RZ is disposed on the upper body 14.
- the hip joint axis 18 R Z is made to coincide with the central axis 12 R C of the leg part 12 R.
- the output shaft of the hip joint single-axis motor 50 is directly connected to a reducer 52 (hereinafter referred to as a “throat reducer shaft reducer”) attached to the lower end of the upper body 14, and is thus connected to the hip joint lower shaft.
- the output of the motor 50 is transmitted directly to the hip joint reducer 52.
- the hip joint single shaft reducer 52 is arranged so that its output shaft is coaxial with the hip joint shaft 18 RZ, so that the output reduced by the hip joint single shaft reducer 52 is
- the first hip link 3 OR is transmitted directly to the hip joint axis 18 RZ to rotate the first hip link 3 OR with respect to the upper body 14.
- the hip joint shaft reducer 52 is configured such that the input shaft (that is, the output shaft of the hip joint shaft motor 50) and the output shaft are coaxial. That is, the output shafts of the hip joint shaft motor 50 and the hip joint shaft reducer 52 are coaxial with the hip joint shaft 18 RZ.
- the first hip link 3 OR has an electric motor that drives the hip joint redundant axis 18 RR
- the output of the hip joint redundant shaft module ⁇ 54 is transmitted to the speed reducer 58 (hereinafter referred to as “hip joint redundant shaft reducer”) via the belt 56.
- the hip joint redundant shaft reducer 58 is arranged so that its output shaft is coaxial with the hip joint redundant shaft 18 RR, so that the output reduced by the hip joint redundant shaft reducer 58 is the hip joint redundant shaft 18 Directly transmitted to the RR, the first hip joint link 30 R and the second hip joint link 32 R are relatively rotated about the pitch axis.
- the hip joint redundant shaft motor 54 is disposed on the upper body 14 side of the hip joint redundant shaft 18 RR.
- the hip joint redundant shaft motor 54 is not subject to rotation of the hip joint redundant shaft 18 R R. More specifically, since there is no degree of freedom other than rotation around the yaw axis on the upper body side than the motor 54 for the hip joint redundant axis, the motor 54 for the hip joint redundant axis is not subject to rotation except for rotation around the yaw axis. No. Accordingly, it is possible to reduce the moment of inertia generated in the leg 12R when the hip joint redundant shaft 18RR is driven, and thus when the robot 10 moves.
- An electric motor 60 (hereinafter, referred to as a “hip roll axis motor”) that drives the hip roll axis 18 RX is disposed on the thigh link 16 R.
- the output shaft of the hip roll shaft motor 60 is directly connected to a reducer 62 (hereinafter referred to as a “hip joint roll shaft reducer”) attached to the upper leg link 16R, and thus the hip roll shaft.
- the output of 60 is transmitted directly to the hip roll shaft reducer 62.
- the hip joint roll shaft reducer 62 is arranged so that its output shaft is coaxial with the hip joint roll shaft 18 RX, so that the output reduced by the hip joint shaft shaft reducer 62 is output. Is directly transmitted to the hip roll axis 18 RX to relatively rotate the second hip link 32 R and the upper link 16 R around the roll axis.
- the hip joint roll shaft reducer 62 is configured such that the input shaft (ie, the output shaft of the hip joint roll shaft motor 60) and the output shaft are coaxial. That is, the output shafts of the hip roll shaft motor 60 and the hip roll shaft reducer 62 are coaxial with the hip roll shaft 18 RX.
- An electric motor 66 (hereinafter, referred to as “hip joint pitch axis motor”) for driving the hip joint pitch axis 18 RY is disposed on the upper leg link 16 R.
- Hip joint pitch axis The output of the motor for transmission 66 is transmitted to a reduction gear 70 (hereinafter referred to as a “hip reduction gear for pitch axis”) via a belt '68.
- the hip joint pitch shaft reducer 70 is arranged so that its output shaft is coaxial with the hip joint pitch shaft 18 RY, so that the output reduced by the hip joint pitch shaft reducer 70 is the hip joint pitch shaft 1 8 Directly transmitted to RY to rotate the second hip joint link 32R and the upper thigh link 16R relatively about the pitch axis.
- the hip joint redundant axis 18 RR is disposed on the upper body 14 side of the hip joint roll axis 18 RX and the hip joint pitch axis 18 RY, and the hip joint redundant axis Motor 54 is arranged on the upper body 14 side of the motor 60 for the hip joint roll axis and the motor 66 for the hip joint pitch axis, so that the weight of the distal end of the leg 12 R can be reduced by light weight.
- the position of the center of gravity of the leg 12R can be made farther from the distal end), and the moment of inertia generated in the leg when the robot 10 moves can be reduced.
- the hip joint redundant axis 18 RR can be rotated.
- the members (from the second hip link 32R to the foot 24R) are the members that are rotated by the hip joint shaft axis 18RX and the hip joint pitch axis 18RY (the upper thigh link 16R to the foot). Up to 24 shaku).
- the larger and heavier hip joint redundant shaft motor 54 is used because it requires a larger driving force than the hip joint roll shaft motor 60 and the hip joint pitch shaft motor 66. .
- the terminal 1R of the leg 12R The weight can be reduced, and the moment of inertia generated in the leg 12 R when the robot 10 moves can be reduced.
- the upper leg link 1 '6 R is further provided with an electric motor 7 4 for driving the knee joint pitch axis 2 RY (hereinafter referred to as “knee joint pitch axis motor”). Is arranged.
- the output of the knee joint pitch axis motor 74 is transmitted to a speed reducer 78 (hereinafter, referred to as a “knee joint pitch axis reducer”) via a belt 76.
- the knee joint pitch axis reducer 78 is arranged so that its output axis is coaxial with the knee joint pitch axis 22RY, and thus the output reduced by the knee joint pitch axis reducer 78 is provided. Is Directly transmitted to the knee joint pitch axis 22RY, the upper leg link 16R and the lower leg link 20R are relatively rotated about the pitch axis.
- an electric motor 80 (hereinafter, referred to as “ankle joint roll axis motor”) for driving the ankle joint Lorenole axis 26 RX is arranged on the lower leg link 20R.
- the output shaft of the motor 80 for the ankle joint port is directly connected to the reducer 82 (hereinafter referred to as “the ankle joint roll shaft reducer J”) attached to the lower leg link 2OR.
- the output of the motor 80 is directly transmitted to the ankle joint roll shaft reducer 82.
- the ankle joint roll shaft reducer 82 is arranged so that its output shaft is coaxial with the ankle joint roll shaft 26 RX, and The output decelerated by the joint shaft reduction gear 82 is directly transmitted to the ankle joint roll shaft 26 RX to relatively rotate the lower leg link 2OR and the foot 24R around the roll axis.
- the joint roll shaft reducer 82 is configured such that the input shaft (ie, the output shaft of the ankle joint roll shaft motor 80) and the output shaft are coaxially located.
- the output of the ankle joint gearbox reduction gear 82 Is Ru is the ankle joint port Lumpur shaft 26 R X coaxial.
- an electric motor 84 (hereinafter, referred to as “ankle joint pitch axis motor”) that drives the ankle joint pitch axis 26 RY is arranged on the retreat link 201.
- the output of the ankle joint pitch axis motor 84 is transmitted to a speed reducer 88 (hereinafter, referred to as an ankle joint pitch axis speed reducer) via a belt 86.
- the output gear 88 for the ankle joint pitch axis is arranged so that its output axis is coaxial with the ankle joint pitch axis 26RY, so that the output reduced by the ankle joint pitch axis reducer 88 is the ankle joint pitch axis 2 6 Directly transmitted to RY, relative rotation of lower leg link 2OR and foot 24R around pitch axis.
- the hip joints 18R, 18L generate the degrees of freedom around the force axis
- the hip joints 18RZ, 18LZ generate the degrees of freedom around the roll axis.
- It is equipped with a Lonolet shaft 18 RX, 18LX, and a hip joint pitch axis 18RY, 18 LY that generates a degree of freedom around the pitch axis, and further has a hip joint redundant axis 18 RR, 18L that generates a redundant degree of freedom around the pitch axis. Since it is configured to have the R, the range of motion of the hip joint 18 R is increased, and the amount of bending (the amount of forward bending and the amount of backward bending) of the upper body 14 can be increased.
- the range of motion of the legs 12R and 12L can be increased, for example, the inner crotch rotation as shown in FIG. 4, the crab crotch rotation as shown in FIG. 5, and the crouching can be performed.
- the hip joint roll axis 18 RX, 18 LX and the hip joint pitch axis 18 RY, 18 LY are orthogonal to each other. Even when the redundant shafts 18RR and 18LR are provided, the hip joints 18R and 18L can be made compact.
- the accommodation capacity of the device in the upper body 14 does not decrease.
- the reach of the upper body 14 and the attachment to the upper body 14 are possible, compared to the case where joints (degrees of freedom) are provided for the upper body 14. It is possible to further increase the reachable range of the arm that has been set. This is similar to the effect that the human body becomes more flexible by placing the hip joint redundant axes 18 RR and 18 LR close to the other rotation axes of the hip joint. Is obtained.
- the hip pitch axes 18RY and 18LY when the legs 12R and 12L land, the hip pitch axes 18RY and 18LY, the hip roll axes 18RX and 18LX and the hip joint redundant axes 18RR and 18LR are appropriately driven.
- the hip joint pitch axis 18RY (18 L ⁇ ) and the hip joint redundant axis 18RR (18 LR) are driven to rotate in the reverse direction (hip joint 18R (18 L)).
- a compliance function can be provided.
- FIG. 7 shows that the hip joint redundant axes 18RR and 18LR are provided, and the hip joint pitch axes 18RY and 18LY and the hip joint redundant axes 18RR and 18LR are reversed when the legs 12R and 12L are landed.
- FIG. 6 is a graph showing a comparison between a landing impact force (indicated by a solid line) when driving in the direction and a landing impact force (indicated by a dashed line) when the driving direction is different.
- the landing impact force specifically, the force acting in the Z-axis direction, ie, Fz described above
- the redundant axes 18RR and 18LR of the hip joint are located forward of the center axes 12RC and 12LC of the legs in the traveling direction (X-axis (roll axis) direction) of the robot 10.
- the forward bending motion of the upper body 14 is facilitated.
- the motor 54 for the hip joint redundant axis which is a heavy object, is positioned opposite to the hip joint redundant axes 18RR, 18LR with the center axis 12RC, 12LG of the leg therebetween in the roll axis direction (rearward in the traveling direction of the robot 10). Therefore, even when the hip joint redundant shafts 18RR and 18LR are arranged forward of the center axes 12RC and 12LC of the legs, the balance of the centers of gravity of the legs 12R and 12L can be improved.
- the hip joint redundant shaft motor 54 which is a heavy object, is disposed rearward in the traveling direction of the robot 10, stability when the robot 10 bends forward while standing is improved. Furthermore, even when the upper body 14 is bent forward significantly, the upper body 14 and the motor 54 for the hip joint redundant shaft do not interfere with each other, so that a large amount of forward bending can be obtained.
- the forward bending amount is larger than the backward bending amount.
- L 8RR and 18 LR are arranged in front and the hip joint redundant shaft motor 54 is arranged in the rear.
- 18 RR and 18 LR may be arranged at the rear, and the hip joint redundant shaft motor 54 may be arranged at the front.
- the structure of the output transmission system can be made compact.
- the hip joint shafts 18RZ and 18LZ the hip joint roll shafts 18RX and 18LX and the ankle joint joint shafts 26RX and 26LX, the number of rotating shafts and electric motors is reduced. Since the speed gears are all arranged coaxially and they are directly connected without intervening other transmission elements, the structure of the output transmission system can be made more compact.
- the hip joint pitch axes 18RY and 18LY, the hip joint redundant axes 18RR and 18LR, the knee joint pitch axes 22RY and 22LY, and the ankle joint pitch axes 26RY and 26LY are larger than the uniaxial and roll axes. Since a driving force is required, each electric motor and the speed reducer are connected via a belt (and a pulley having a different diameter) to amplify the input of the speed reducer. Since the belt interposed between the speed reducers only needs to transmit a relatively small driving force before being reduced by the speed reducer, that is, the output of the electric motor itself, the transmission capacity can be set small.
- the hip joint redundant axes 18 RR and 18 LR generate degrees of freedom around the pitch axis.
- the rotation axis that is not parallel to the Y axis (Z axis, vertical direction)
- How to arrange the hip joint redundant axes 18RR and 18LR may be determined as appropriate according to the posture to be taken by the robot 10 and the gait.
- Fig. 8 shows an example in which the degrees of freedom other than around the pitch axis are generated by the hip joint redundant axes 18RR and 18LR (specifically, an example in which the degrees of freedom are generated on the XY plane).
- hip joint axes 18 RZ and 18 LZ are made to coincide with the center axes 12RC and 12RC of the legs, but the hip joint axes 18R2 and 18LZ are roll axes with respect to the center axes 12RC and 12LC of the legs. It may be offset in the direction. By doing so, it is possible to suppress interference between the feet when the legs 12R, 12L are rotated, and to increase the rotation angle of the legs 12R, 12L.
- each The motor may be arranged at the same position as the rotating shaft, and the electric motor, the reduction gear and the rotating shaft may be coaxially connected directly! / ,.
- the rotation axes are sequentially changed from the upper body 14 side to the hip joint axes 18RZ and 18LZ, the hip joint redundant axes 18RR and 18LR, the hip joint roll axes 18RX and 18LX, and the hip joint pitch axis 1'8RY, 18 LY was placed, but it is not necessarily limited to this.
- the hip joint (18R, 18L) connecting the upper body (14) and the thigh link (16R, 16L) includes: The knee joint (22R, 22L) connecting the upper leg link (16R, 16L) and the lower retreat link (2OR, 20L), the lower leg link (2OR, 20L) and the foot (24R) , 24L) is connected to a leg (12R, 12L) having an ankle joint (26R, 26L), and the legged mobile robot (10) moves by driving the leg (12R, 12L).
- the hip joints (18R, 18L) have a first rotational axis (hip joint axis 18RZ, 18LZ) that generates a degree of freedom around the X axis (Z axis), and a degree of freedom about the roll axis (X axis). And a third rotation axis (hip pitch axis 18RY, 18LY) for generating a degree of freedom around the pitch axis (Y axis). Furthermore, it was configured with a fourth rotation axis for generating a redundant degrees of freedom (hip redundant axis 18RR, 18 LR).
- the hip joint (18R, 18L) is connected to the upper body (14) via one of the first to third rotation axes (hip joint axis 18RZ, 18LZ).
- the first member (the first hip joint link 30R, 30L) and the remaining one of the first to third rotation axes (the hip roll axis 18 RX, 18 LX and the hip joint pitch)
- a second member (second hip link 32R, 32L) connected to the upper thigh link (16R, 16L) via a shaft 18RY, 18LY), and the first member (30R , 30L) and the second member (32R, 32L) are connected via the fourth rotation shaft (18RR, 18LR).
- the fourth rotation axis (18RR, 18LR) is configured to be a rotation axis that is not parallel to the Yaw axis (Z axis).
- the fourth rotation shaft (18RR, 18LR) is configured to be disposed forward of the first rotation shaft (18RZ, 18LZ) in the roll axis direction. (18RZ, 18LZ) for the first rotating shaft (hip joint shaft motor 50) and the first rotating shaft reducer (hip joint motor) for reducing the output of the first rotating shaft motor (50).
- the output shafts of the first rotary shaft motor (50) and the first rotary shaft reducer (52) are connected to the first rotary shaft (18RZ). , 18 LZ).
- a motor for the second rotating shaft (motor 60 for the hip joint roll shaft) for driving the second rotating shaft (18RX, 18LX) and a second motor for reducing the output of the motor for the second rotating shaft (60) are provided.
- the second rotation axis motor (60) and the second rotation axis speed reducer (62) are connected to the output shaft.
- the second rotation axis (18RX, 18LX) is arranged so as to be coaxial with the second rotation axis (18RX, 18LX).
- a third rotating shaft motor (hip joint pitch shaft motor 66) for driving the third rotating shaft (18RY, 18LY) and a third rotating shaft motor (66) for reducing the output of the third rotating shaft motor (66).
- the third rotation axis speed reducer (70) has an output shaft of the third rotation axis (18 RY, 18 LY).
- a motor for the fourth rotating shaft (motor 54 for the hip joint redundant shaft) for driving the fourth rotating shaft (18RR, 18LR) is provided, and the motor for the fourth rotating shaft (54) is It is configured so that it is arranged at the same position as the rotation axis (18RR, 18LR) of 4 or above (14).
- a fourth rotary shaft reducer (hip joint redundant shaft reducer 58) for reducing the output of the fourth rotary shaft motor (54) is provided, and the fourth rotary shaft reducer (58) is The output shaft was configured to be coaxial with the fourth rotation shaft (18RR, 18LR).
- a mode for the second rotating shaft for driving the second rotating shaft (18RX, 18LX) is provided.
- a hip joint roll axis motor 60 and a fourth rotation axis motor (hip joint redundant axis motor 54) for driving the fourth rotation axis (18RR, 18LR).
- 32R, 32L) and the upper leg link (16R, 16L) are connected via at least the second rotary shaft (18 RX, 18 LX), and the fourth rotary shaft motor (54) is It is configured to be disposed on the upper body (14) side of the second rotation shaft motor (60).
- a third rotating shaft motor (hip joint pitch shaft motor 66) for driving the third rotating shaft (18RY, 18LY) and a third rotating shaft (18RR, 18LR) for driving the fourth rotating shaft (18RR, 18LR).
- a motor for a four-rotation shaft (motor for a hip joint redundant shaft 54) is provided, and the second member (32R, 32L) and the upper leg link (16R, 16L) are connected to at least the third rotation shaft. (18RY, 18LY), and the fourth rotary shaft motor (54) is arranged closer to the upper body (14) than the third rotary shaft motor (66).
- the fourth rotating shaft motor (54) is positioned at a position facing the fourth rotating shaft (18RR, 18LR) across the center axis (12RC, 12LC) of the leg in the roll axis direction. It was configured to be arranged in.
- first rotation axis (18RZ, 18LZ) is configured to be offset in the roll axis direction with respect to the center axis (12RC, 12LC) of the leg.
- the second rotation axis (18RX, 18LX) and the third rotation axis (18RY, 18LY) are configured to be orthogonal to each other.
- a bipedal walking robot has been described as an example of a legged mobile robot, but the present invention is applicable to any type of mouth bot as long as it is a robot that moves by legs. is there.
- Industrial applicability is applicable to any type of mouth bot as long as it is a robot that moves by legs. is there.
- the hip joint that connects the upper body and the upper leg link has a first rotation axis that generates a degree of freedom about the hoop axis and a second rotation axis that generates a degree of freedom about the roll axis.
- the amount of flexion of the upper body and the range of motion of the legs can be increased. The degree of freedom can be improved.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04733690A EP1625917B1 (en) | 2003-05-20 | 2004-05-18 | Legged mobile robot |
DE602004020606T DE602004020606D1 (de) | 2003-05-20 | 2004-05-18 | Schreitroboter |
US10/554,267 US7441614B2 (en) | 2003-05-20 | 2004-05-18 | Legged mobile robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003141461A JP4299583B2 (ja) | 2003-05-20 | 2003-05-20 | 脚式移動ロボット |
JP2003-141461 | 2003-05-20 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004103650A1 true WO2004103650A1 (ja) | 2004-12-02 |
Family
ID=33475027
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/007064 WO2004103650A1 (ja) | 2003-05-20 | 2004-05-18 | 脚式移動ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US7441614B2 (ja) |
EP (1) | EP1625917B1 (ja) |
JP (1) | JP4299583B2 (ja) |
KR (1) | KR100691401B1 (ja) |
DE (1) | DE602004020606D1 (ja) |
WO (1) | WO2004103650A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101628415B (zh) * | 2005-12-12 | 2012-05-16 | 本田技研工业株式会社 | 腿式移动机器人及其控制装置和控制方法 |
CN108291618A (zh) * | 2015-12-03 | 2018-07-17 | 川崎重工业株式会社 | 2个自由度的驱动机构 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008126384A (ja) * | 2006-11-24 | 2008-06-05 | Toyota Motor Corp | 脚式移動ロボット |
CN100450857C (zh) * | 2007-01-26 | 2009-01-14 | 清华大学 | 一种仿人机器人解耦腿机构 |
KR101484943B1 (ko) * | 2008-05-30 | 2015-01-21 | 삼성전자 주식회사 | 보행로봇 |
US8237390B2 (en) | 2010-02-13 | 2012-08-07 | Ivan Godler | Drive unit for legged robots and control method thereof |
JP5450203B2 (ja) * | 2010-03-29 | 2014-03-26 | 本田技研工業株式会社 | 脚式移動ロボット |
JP5436300B2 (ja) * | 2010-03-29 | 2014-03-05 | 本田技研工業株式会社 | 脚式移動ロボット |
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 |
TWI414337B (zh) * | 2010-07-30 | 2013-11-11 | Hwa Hsia Inst Of Technology | 自動機器人下肢 |
KR101331197B1 (ko) | 2012-07-06 | 2013-11-26 | 주식회사 자연이준식품 | 로봇관절 길이 가변장치 |
US10144464B1 (en) * | 2014-07-10 | 2018-12-04 | National Technology & Engineering Solutions Of Sandia, Llc | Energy efficient robot |
US10988191B2 (en) | 2014-08-20 | 2021-04-27 | Hydraulic Systems, Llc | Load transporting apparatus and methods of using same |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
JP6507094B2 (ja) * | 2015-12-28 | 2019-04-24 | 株式会社東芝 | マニピュレータ |
JP6823505B2 (ja) * | 2017-03-09 | 2021-02-03 | 本田技研工業株式会社 | 関節構造体、ハンド装置、ロボットアーム及びロボット |
KR102339483B1 (ko) * | 2020-02-14 | 2021-12-14 | 한국기술교육대학교 산학협력단 | 운동전달 메커니즘 및 이를 이용한 로봇 |
WO2023017872A1 (ko) * | 2021-08-12 | 2023-02-16 | 한국기술교육대학교 산학협력단 | 운동전달 메커니즘 및 이를 이용한 로봇 |
CN115743353A (zh) * | 2022-11-23 | 2023-03-07 | 之江实验室 | 一种轻质一体化双足机器人大腿结构 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2592340B2 (ja) * | 1989-12-14 | 1997-03-19 | 本田技研工業株式会社 | 脚式歩行ロボットの関節構造 |
JP2001062761A (ja) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | 2足歩行脚式移動ロボット |
JP2001150371A (ja) * | 1999-09-07 | 2001-06-05 | Sony Corp | ロボット、及びロボット用の関節装置 |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1018467B1 (en) * | 1996-07-25 | 2003-10-22 | Honda Giken Kogyo Kabushiki Kaisha | Gait generating device for leg type moving robot |
JP3555107B2 (ja) * | 1999-11-24 | 2004-08-18 | ソニー株式会社 | 脚式移動ロボット及び脚式移動ロボットの動作制御方法 |
JP2001239479A (ja) * | 1999-12-24 | 2001-09-04 | Sony Corp | 脚式移動ロボット及びロボットのための外装モジュール |
JP4480843B2 (ja) * | 2000-04-03 | 2010-06-16 | ソニー株式会社 | 脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ |
US6969965B2 (en) * | 2002-01-18 | 2005-11-29 | Honda Giken Kogyo Kabushiki Kaisha | Controller of legged mobile robot |
JP3833567B2 (ja) * | 2002-05-01 | 2006-10-11 | 本田技研工業株式会社 | 移動ロボットの姿勢制御装置 |
JP3994956B2 (ja) * | 2002-12-18 | 2007-10-24 | ソニー株式会社 | ロボット装置、並びに負荷吸収装置及び負荷吸収方法 |
JP4592276B2 (ja) * | 2003-10-24 | 2010-12-01 | ソニー株式会社 | ロボット装置のためのモーション編集装置及びモーション編集方法、並びにコンピュータ・プログラム |
-
2003
- 2003-05-20 JP JP2003141461A patent/JP4299583B2/ja not_active Expired - Fee Related
-
2004
- 2004-05-18 KR KR1020057019739A patent/KR100691401B1/ko not_active IP Right Cessation
- 2004-05-18 DE DE602004020606T patent/DE602004020606D1/de not_active Expired - Lifetime
- 2004-05-18 EP EP04733690A patent/EP1625917B1/en not_active Expired - Lifetime
- 2004-05-18 US US10/554,267 patent/US7441614B2/en not_active Expired - Fee Related
- 2004-05-18 WO PCT/JP2004/007064 patent/WO2004103650A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2592340B2 (ja) * | 1989-12-14 | 1997-03-19 | 本田技研工業株式会社 | 脚式歩行ロボットの関節構造 |
JP2001062761A (ja) * | 1999-08-30 | 2001-03-13 | Honda Motor Co Ltd | 2足歩行脚式移動ロボット |
JP2001150371A (ja) * | 1999-09-07 | 2001-06-05 | Sony Corp | ロボット、及びロボット用の関節装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1625917A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101628415B (zh) * | 2005-12-12 | 2012-05-16 | 本田技研工业株式会社 | 腿式移动机器人及其控制装置和控制方法 |
CN108291618A (zh) * | 2015-12-03 | 2018-07-17 | 川崎重工业株式会社 | 2个自由度的驱动机构 |
Also Published As
Publication number | Publication date |
---|---|
KR100691401B1 (ko) | 2007-03-12 |
DE602004020606D1 (de) | 2009-05-28 |
EP1625917B1 (en) | 2009-04-15 |
US7441614B2 (en) | 2008-10-28 |
EP1625917A1 (en) | 2006-02-15 |
JP2004344989A (ja) | 2004-12-09 |
KR20060003021A (ko) | 2006-01-09 |
US20060243498A1 (en) | 2006-11-02 |
JP4299583B2 (ja) | 2009-07-22 |
EP1625917A4 (en) | 2008-03-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004103650A1 (ja) | 脚式移動ロボット | |
JP4299567B2 (ja) | 脚式移動ロボット | |
JP4255663B2 (ja) | 脚式移動ロボット | |
JP5539040B2 (ja) | 脚式移動ロボット | |
JP4213310B2 (ja) | 2足歩行脚式移動ロボット | |
KR101464125B1 (ko) | 보행로봇 | |
JP3435666B2 (ja) | ロボット | |
JP2592340B2 (ja) | 脚式歩行ロボットの関節構造 | |
US8327959B2 (en) | Walking robot | |
JP2004141976A (ja) | ロボットの関節構造 | |
JP4675356B2 (ja) | 脚式移動ロボット | |
JP5528916B2 (ja) | ロボット及びロボットの外力検出機構 | |
JP2004017178A (ja) | 二脚歩行式人型ロボット及びその手先収納機構 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 1020057019739 Country of ref document: KR |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2004733690 Country of ref document: EP Ref document number: 2006243498 Country of ref document: US Ref document number: 10554267 Country of ref document: US |
|
WWP | Wipo information: published in national office |
Ref document number: 1020057019739 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 2004733690 Country of ref document: EP |
|
WWP | Wipo information: published in national office |
Ref document number: 10554267 Country of ref document: US |