WO2018097437A1 - Corps inférieur de robot comprenant une structure de liaison parallèle et dispositif de type robot marcheur le comprenant - Google Patents

Corps inférieur de robot comprenant une structure de liaison parallèle et dispositif de type robot marcheur le comprenant Download PDF

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Publication number
WO2018097437A1
WO2018097437A1 PCT/KR2017/006324 KR2017006324W WO2018097437A1 WO 2018097437 A1 WO2018097437 A1 WO 2018097437A1 KR 2017006324 W KR2017006324 W KR 2017006324W WO 2018097437 A1 WO2018097437 A1 WO 2018097437A1
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WO
WIPO (PCT)
Prior art keywords
drive link
main drive
link
auxiliary
torque
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PCT/KR2017/006324
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English (en)
Korean (ko)
Inventor
이종우
오용환
이기욱
Original Assignee
한국과학기술연구원
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Publication of WO2018097437A1 publication Critical patent/WO2018097437A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • 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
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • 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
    • 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

Definitions

  • the present invention relates to a lower body of a robot and a walking robot device including the same, and more particularly, to a lower body of a robot performing a walking operation with a plurality of link structures and a walking robot device including the same.
  • a serial link structure in which a plurality of links are connected in series and a parallel link structure in which a plurality of links are connected in parallel are applied.
  • a serial link structure having six degrees of freedom is usually used.
  • an actuator that generates torque to rotate the link for each joint is disposed on the joint or at another position.
  • the angle of rotation of the link and the required torque can be directly calculated when the link connected to the joint is rotated, so that control can be easily performed.
  • the amount of torque added is drastically increased due to the actuator's own load.
  • the present invention has been made to solve the above-mentioned problems of the walking robot device, and the main drive link is rotated by the auxiliary drive link rotatably connected in parallel to the link or the body connected to each joint of one main drive link.
  • the lower body of the robot capable of distributing the torque required to calculate the motion of the auxiliary drive link, based on the calculation for the motion of the main drive link and the constraints on the position and angle of the main drive link.
  • An object of the present invention is to provide a walking robot device including the same.
  • Robot lower body for solving the above problems is the first main drive link is rotatably connected to the body; A second main drive link connected to the distal end of the first main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link; A first auxiliary drive link connected to the body so as to be rotatable about an axis parallel to the rotation axis of the first main drive link; And a first transmission link having one end connected to an end of the first auxiliary drive link and the other end connected to the second main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link.
  • the movable range of the position on the main drive link to which the transmission link is connected is included in the movable range of the other end of the transmission link, and the torque applied to the auxiliary drive link is torque only to the main drive links. Is determined in consideration of the torque to be applied to each said main drive link.
  • the sum of the magnitudes of the torques applied to the first main drive link, the second main drive link, and the auxiliary drive link is the first main drive link and the second main drive link.
  • torque When torque is applied only to the drive link, it may be less than the sum of the magnitudes of the torques to be applied to each main drive link.
  • the third main drive link connected to the distal end of the second main drive link to be rotatable about an axis parallel to the rotation axis of the first main drive link;
  • a second auxiliary drive link connected to the first main drive link so as to be rotatable about an axis parallel to the rotation axis of the first main drive link;
  • a second transmission link having one end connected to the distal end of the second auxiliary drive link and the other end connected to the third main drive link so as to be rotatable about an axis parallel to the pivot axis of the first main drive link. It may include.
  • the first main drive link and the first auxiliary drive link may be connected to different positions of the body, respectively.
  • the distal end of the first transfer link may be connected to a protrusion extending from the second drive link.
  • Walking robot apparatus for solving the above problems may include a robot lower body having one or more of the characteristics of the above-described robot lower body.
  • the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size
  • the walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.
  • FIG. 1 is a schematic conceptual diagram of a walking robot apparatus according to an embodiment of the present invention.
  • FIG. 2 is a schematic side view of the walking robot apparatus of FIG. 1.
  • FIG. 3 is a configuration diagram of a control device of the walking robot apparatus of FIG. 1.
  • FIG. 4 is a schematic side view of the walking robot apparatus of FIG. 1.
  • a walking robot apparatus 10 includes a body 100 and a lower body 200.
  • the walking robot device 10 includes left and right legs and moves by operation of the lower body 200 connected to the lower portion of the body 100.
  • Only main driving links among the links are shown in FIG. 1 for convenience of understanding.
  • the X axis of the Cartesian coordinate system shown in FIG. 1 is the same as the forward direction of the walking robot device 10 and is a reference axis of the roll ('roll axis'), and the Y axis is the X axis on the horizontal plane on which the walking robot device 10 walks.
  • the axis perpendicular to the pitch is the reference axis of the pitch ('pitch axis'), and the Z axis is the reference axis of the yaw perpendicular to the X and Y axes (the yaw axis).
  • the lower body 200 includes a first main drive link 210, a second main drive link 220, and a third main drive link 230.
  • first main drive link 210 a first main drive link 210
  • second main drive link 220 a second main drive link 220
  • third main drive link 230 a third main drive link 230
  • the first main drive link 210 has a body 100 to have three degrees of freedom by the first joint 201 including the first roll shaft 201a, the first pitch shaft 201b and the first yaw shaft 201c.
  • the second main drive link 220 is connected to the first main drive link 210 to have one degree of freedom by the second joint 202 including the second pitch axis 202b.
  • the third main drive link 230 is connected to the second main drive link 220 to have two degrees of freedom by a third joint 203 including a third roll axis 203a and a third pitch axis 203b.
  • the degrees of freedom for the other joints other than the pitch axis in the above-described joints are exemplary and may have various degrees of freedom.
  • the first main drive link 210 is rotatably connected to the body 100 with respect to the first joint 201 corresponding to the hip joint.
  • the first main drive link 210 may rotate about the first pitch axis 201b as shown in FIG. 1 to perform an operation of the thigh for walking.
  • the first main drive link 210 may rotate by receiving torque from the first main actuator 211.
  • the first main actuator 211 may apply torque to the first main drive link 210 to fix or move the first main drive link 210 at an arbitrary position and angle with respect to the body 100.
  • the second main drive link 220 is connected to the distal end of the first main drive link 210 rotatably with respect to the second joint 202 corresponding to the knee joint.
  • the second main drive link 220 may rotate about the second pitch axis 202b as shown in FIG. 1 to perform an operation of the lower part for walking.
  • the second main drive link 220 may rotate by receiving torque from the second main actuator 221.
  • the second main actuator 221 applies torque to the second main drive link 220 to fix or move the second main drive link 220 at an arbitrary position and angle with respect to the first main drive link 210. You can.
  • the third main drive link 230 is connected to the distal end of the second main drive link 220 rotatably with respect to the third joint 203 corresponding to the ankle joint.
  • the third main drive link 230 may rotate about the third pitch axis 203b as shown in FIG. 1 to perform an operation of the foot for walking.
  • the third main drive link 230 may rotate by receiving torque from the third main actuator 231.
  • the third main actuator 231 applies torque to the third main drive link 230 to fix or move the third main drive link 230 at an arbitrary position and angle with respect to the second main drive link 220. You can.
  • the first main drive link 210 and the second main drive link 220 additionally receive torque from the first auxiliary driver 240.
  • the first auxiliary drive unit 240 includes a first auxiliary drive link 241, a first transmission link 242, and a first auxiliary actuator 243.
  • the first auxiliary drive link 241 is rotatably connected to the body 100.
  • the first auxiliary drive link 241 may be rotatably connected to the pitch axis at a different position from the first joint 201.
  • the position at which the first auxiliary drive link 241 is connected to the body 100 may be appropriately determined in consideration of the length and the rotation range of the links.
  • the first transmission link 242 is pivotally connected to the distal end of the first auxiliary drive link 241.
  • the first transmission link 242 and the first auxiliary drive link 241 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the distal end of the first transfer link 242 is pivotally connected to the second main drive link 220.
  • the first transmission link 242 and the second main drive link 220 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the first transmission link 242 can be rotatably connected to the protrusion 222 extending from the second main drive link 220.
  • the extension length, direction, etc. of the protrusion 222 may be appropriately selected according to the length of the links, the rotation range, and the like.
  • the first transmission link 242 can be connected between both ends of the second main drive link 220.
  • the position at which the first transmission joint 245 to which the second main drive link 220 and the first transmission link 242 are connected to each other is formed on the second main drive link 220 takes into account the length and rotation range of the links. Can be appropriately selected.
  • the first transfer joint 245 may be disposed in the center of the second main drive link 220.
  • the position of the first transmission joint 245 during walking is determined according to the arrangement of the first main drive link 210 and the second main drive link 220. Meanwhile, a part of the body 100, a first main drive link 210, a part of the second main drive link 220, a first auxiliary drive link 241, and a first transmission link 242 are provided. Since one closed loop is formed, the position of the first transmission joint 245 can also be determined by the placement of the first auxiliary drive link 241 and the first transmission link 242. The position of the first transmission joint 245 determined by the first main drive link 210 and the second main drive link 220 and the position of the first auxiliary drive link 241 and the first transmission link 242. Since the positions of the first transfer joints 245 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
  • the rotational angle of the second main drive link 220 with respect to the first transmission joint 245 is a rotational angle of the first main drive link 210 with respect to the body 100 and the rotational angle with respect to the first main drive link 210. It is determined by the rotation angle of the two main drive links 220.
  • the rotational angle of the first transmission link 242 relative to the first transmission joint 245 is the rotational angle of the first auxiliary drive link 241 relative to the body 100 and the first angle relative to the first auxiliary drive link 241.
  • the rotation angle of the transmission link 242 is determined.
  • This constraint is such that the difference between the rotational angle of the second main drive link 220 with respect to the first transmission link 242 and the rotational angle of the second main drive link 220 with respect to the first main drive link 210 is constant. Considering the conditions, the relative motion of each link can be calculated together.
  • the movable range of the first transfer joint 245 on the second main drive link 220 is the first transfer link 242. It may be included in the movable range of the first delivery joint 245 of the image.
  • the length and the connecting position of each of the first auxiliary drive link 241 and the first transmission link 242 are such that the movable range of the distal end of the first transmission link 242 is the movable range of the main drive links 210 and 220. Can be determined to include.
  • the range of movement of the second main drive link 220 is not limited due to the connection of the first transmission link 242.
  • the first auxiliary drive link 241 may rotate by receiving torque from the first auxiliary actuator 243.
  • the first main drive link 210, the second main drive link 220, and the first auxiliary drive link 241 receive torque from the connected actuators 211, 221, and 243, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
  • the position and the rotation angle of the first transmission link 242 are naturally determined, and the second main drive link 220 receives torque from the first auxiliary actuator 243 received from the first auxiliary drive link 241. To pass. That is, the first transmission link 242 receives the torque by the first auxiliary actuator 243 according to the arrangement of the first main drive link 210 and the second main drive link 220. To pass on.
  • part of the body 100, the first main drive link 210, the part of the second main drive link 220, the first auxiliary drive link 241, and the first transmission link 242. Is connected in parallel to form one closed loop, reducing the amount of torque required for the first main actuator 211 and the second main actuator 221 by additional torque by the first auxiliary actuator 243. You can.
  • the second main drive link 220 and the third main drive link 230 additionally receive power from the second auxiliary driver 250.
  • the second auxiliary drive unit 250 includes a second auxiliary drive link 251, a second transmission link 252, and a second auxiliary actuator 253.
  • the second auxiliary drive link 251 is rotatably connected to the first main drive link 210.
  • the second auxiliary drive link 251 may be rotatably connected to the pitch axis at a position different from the first joint 201 and the second joint 202.
  • the position at which the second auxiliary drive link 251 is connected to the first main drive link 210 may be appropriately determined in consideration of the length and the rotation range of the links.
  • the second transmission link 252 is pivotally connected to the distal end of the second auxiliary drive link 242.
  • the first transmission link 252 and the second auxiliary drive link 251 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the distal end of the second transfer link 252 is rotatably connected to the third main drive link 230.
  • the second transmission link 252 and the third main drive link 230 are rotated with respect to the pitch axis, respectively. Possibly connected.
  • the second transmission link 252 may be rotatably connected to the protrusion 232 extending from the third main drive link 230.
  • the extension length, direction, etc. of the protrusion 232 may be appropriately selected according to the length of the links, the rotation range, and the like.
  • the position at which the second transmission joint 255 is formed on the third main drive link 230, in which the second transmission link 252 is connected to the third main drive link 230, takes into account the length and rotation range of the links. Can be appropriately selected.
  • the second transfer joint 255 may be disposed at an intermediate height of the third main drive link 220.
  • the position of the second transmission joint 255 during walking is determined according to the arrangement of the first main drive link 210, the second main drive link 220, and the third main drive link 230. Meanwhile, a part of the first main drive link 210, a second main drive link 220, a part of the third main drive link 230, a second auxiliary drive link 251, and a second transmission link Since 252 forms one closed loop, the position of the second transmission joint 255 may also be determined by the placement of the second auxiliary drive link 251 and the second transmission link 252. The position of the second transmission joint 255 and the second auxiliary drive link 251 and the first determined by the first main drive link 210, the second main drive link 220 and the third main drive link 230. Since the positions of the second transmission joints 255 determined by the second transmission links 252 are the same, the relative motion of each link may be calculated together in consideration of such constraints.
  • the rotational angle of the third main drive link 230 with respect to the second transmission joint 255 is a rotational angle of the first main drive link 210 with respect to the body 100, the first rotational angle with respect to the first main drive link 210.
  • the rotation angle of the second main drive link 220 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are determined.
  • the rotation angle of the second transmission link 252 with respect to the second transmission joint 255 is the rotation angle of the second auxiliary drive link 251 with respect to the first main drive link 210 and the second auxiliary drive link 251. Is determined by the rotational angle of the second transmission link 252 relative to.
  • This constraint condition is constant because the angle of rotation of the third main drive link 230 with respect to the second transmission link 252 and the rotation angle of the third main drive link 230 with respect to the second main drive link 220 are constant. Considering this, the relative motion of each link can be calculated together.
  • the movable range of the second transfer joint 255 on the third main drive link 230 is the second transfer link 252. It may be included in the movable range of the second delivery joint 255 of the image.
  • the length and the connecting position of each of the second auxiliary drive link 251 and the second transmission link 252 are such that the movable range of the distal end of the second transmission link 252 is the movable range of the main drive links 220 and 230. Can be determined to include.
  • the moving range of the third main drive link 230 is not limited due to the connection of the second transmission link 252.
  • the second auxiliary drive link 251 may rotate by receiving torque from the second auxiliary actuator 253.
  • the second main drive link 220, the third main drive link 230, and the second auxiliary drive link 251 receive torque from the connected actuators 221, 231, and 253, respectively, at arbitrary positions and rotations. Fixed or moved at an angle.
  • the position and the rotation angle of the second transmission link 252 are naturally determined, and the third primary drive link 230 receives torque from the second auxiliary actuator 253 received from the second auxiliary drive link 251.
  • the second transmission link 252 receives the torque by the second auxiliary actuator 253 according to the arrangement of the second main drive link 220 and the third main drive link 230. To pass on.
  • the link 252 is connected in parallel to form one closed loop, the torque required for the second main actuator 221 and the third main actuator 231 as additional torque by the second auxiliary actuator 253. Can reduce the size.
  • the walking robot device 10 may include a control device 110 that controls the movement of the lower body 200.
  • the control device 110 includes a walking pattern generator 112, a controller 113, an actuator driver 114, a position / torque detector 116, a force / torque sensor 117, and a pose sensor 118. ) May be included.
  • the walking pattern generator 112 generates a walking pattern corresponding to a control factor for determining a desired walking direction, walking width, and walking speed of the walking robot device 10, and generates a phase signal of a frequency corresponding to the walking pattern. Generate. The generation of the walking pattern is generated in real time not only at the beginning of walking but also during walking.
  • the phase signal generated by the walking pattern generator 112 is a signal for driving the lower body 200 in various states.
  • the controller 113 controls the overall operation of the walking robot apparatus 10.
  • the walking pattern generator 112 is communicatively connected to an input side of the controller 113.
  • An actuator driver 114 for driving actuators is communicatively connected to the output side of the controller 113.
  • the controller 113 may calculate a torque to be applied through the actuator by using the above-described constraints on the position and angle relationship of the links.
  • the difference between the position calculated through the main drive links and the position calculated through the auxiliary drive on the closed loop composed of the main drive links and the auxiliary drive is constant, the rotation angle calculated through the main drive links and the rotation calculated through the auxiliary drive.
  • Set g as a condition that the difference in angle is constant.
  • Equation 1 ego, to be.
  • Equation 2 ⁇ u represents the operating torque for q u , ⁇ r represents the total operating torque. ⁇ u can be appropriately dispersed by ⁇ r by ⁇ T.
  • the auxiliary drive links are considered in consideration of the calculated torque.
  • the torque to be applied to 241 and 251 may be calculated.
  • the gait operation of the gait robot device 10 may be performed to be smaller.
  • the position / torque detector 116 may detect the position and torque of each joint.
  • the position / torque detection unit 116 may provide the detected position / torque information to the walking pattern generation unit 112.
  • the walking pattern generator 112 may reflect position / torque information in the walking pattern generation.
  • the position / torque detection unit 116 provides the position / torque information to the control unit 113.
  • the controller 113 may calculate a numerical value required for overall control of the walking robot apparatus based on the provided position / torque information.
  • the walking pattern generator 112 also reflects posture information provided through the pose sensor 118 and moment information provided through the force / torque sensor 117 to the walking pattern generation.
  • the force / torque sensor 117 may be disposed in the third main drive link 230 to measure a force and a moment transmitted to the third main drive link 230 to detect landing and a load.
  • the pose sensor 118 detects an inclination angle of the body 100 with respect to the vertical axis, its angular velocity, and the like to generate posture information.
  • the walking robot device may be remotely controlled by a control device provided separately from the outside.
  • the auxiliary drive link is connected in parallel to the main drive link required for the joint motion to distribute the load to the main actuator for the rotation of the main drive link to a low performance actuator having a relatively small size
  • the walk operation can be performed, and the ease of control can be ensured by first calculating calculations and constraints considering only the main drive link, and then sequentially calculating calculations for the auxiliary drive link.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif de type robot marcheur comprenant un corps inférieur de robot comprenant : une première liaison d'entraînement principale reliée de façon rotative à un corps ; une seconde liaison d'entraînement principale reliée de façon rotative à une extrémité de la première liaison d'entraînement principale ; une liaison d'entraînement auxiliaire reliée de façon rotative au corps ; et une liaison de transmission reliée de façon rotative à une extrémité de la liaison d'entraînement auxiliaire et à la seconde liaison d'entraînement principale, une plage permettant le déplacement d'une position sur la seconde liaison d'entraînement principale, à laquelle la liaison de transmission est reliée, étant comprise dans une plage permettant le déplacement de l'autre partie d'extrémité de la liaison de transmission et, lorsqu'un couple est appliqué uniquement à la première liaison d'entraînement principale et à la seconde liaison d'entraînement principale, un couple appliqué à la liaison d'entraînement auxiliaire étant déterminé en tenant compte d'un couple à appliquer à chacune des liaisons d'entraînement principales.
PCT/KR2017/006324 2016-11-22 2017-06-16 Corps inférieur de robot comprenant une structure de liaison parallèle et dispositif de type robot marcheur le comprenant WO2018097437A1 (fr)

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KR1020160155575A KR101876252B1 (ko) 2016-11-22 2016-11-22 병렬식 링크 구조를 포함하는 로봇 하체, 이를 포함하는 보행 로봇 장치
KR10-2016-0155575 2016-11-22

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JP7261082B2 (ja) * 2019-05-09 2023-04-19 Thk株式会社 歩行ロボット

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JP2013248699A (ja) * 2012-05-31 2013-12-12 Thk Co Ltd 脚式ロボットの下肢構造及び脚式ロボット
JP2014050944A (ja) * 2012-09-05 2014-03-20 Mitsuo Iwasaki 人型ロボットの四肢
KR20140064217A (ko) * 2012-11-20 2014-05-28 대우조선해양 주식회사 병렬 링크형 착용로봇
KR20160089298A (ko) * 2013-04-19 2016-07-27 서울대학교산학협력단 여유구동형 기구 형성 방법 및 구동기 힘 분배 시스템

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Publication number Priority date Publication date Assignee Title
KR101182620B1 (ko) * 2007-10-23 2012-09-14 혼다 기켄 고교 가부시키가이샤 2 족 보행 로봇
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