DE602005019197D1 - Beingelenkunterstützungsvorrichtung für einen mobilen roboter mit beinen - Google Patents

Beingelenkunterstützungsvorrichtung für einen mobilen roboter mit beinen

Info

Publication number
DE602005019197D1
DE602005019197D1 DE602005019197T DE602005019197T DE602005019197D1 DE 602005019197 D1 DE602005019197 D1 DE 602005019197D1 DE 602005019197 T DE602005019197 T DE 602005019197T DE 602005019197 T DE602005019197 T DE 602005019197T DE 602005019197 D1 DE602005019197 D1 DE 602005019197D1
Authority
DE
Germany
Prior art keywords
beingelenkunt
legs
support
mobile robot
robot
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.)
Active
Application number
DE602005019197T
Other languages
English (en)
Inventor
Toru Takenaka
Hiroshi Gomi
Kazushi Hamaya
Kazushi Akimoto
Shinya Shirokura
Minami Asatani
Katsushi Tanaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Showa Corp
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 Motor Co Ltd, Showa Corp filed Critical Honda Motor Co Ltd
Publication of DE602005019197D1 publication Critical patent/DE602005019197D1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B25J17/00—Joints
    • 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
    • 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
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T403/00—Joints and connections
    • Y10T403/32—Articulated members
    • Y10T403/32606—Pivoted

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
DE602005019197T 2004-09-22 2005-08-17 Beingelenkunterstützungsvorrichtung für einen mobilen roboter mit beinen Active DE602005019197D1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004275385A JP2006088258A (ja) 2004-09-22 2004-09-22 脚式移動ロボットの脚体関節アシスト装置
PCT/JP2005/015010 WO2006033209A1 (ja) 2004-09-22 2005-08-17 脚式移動ロボットの脚体関節アシスト装置

Publications (1)

Publication Number Publication Date
DE602005019197D1 true DE602005019197D1 (de) 2010-03-18

Family

ID=36089973

Family Applications (1)

Application Number Title Priority Date Filing Date
DE602005019197T Active DE602005019197D1 (de) 2004-09-22 2005-08-17 Beingelenkunterstützungsvorrichtung für einen mobilen roboter mit beinen

Country Status (6)

Country Link
US (1) US7658246B2 (de)
EP (1) EP1820612B1 (de)
JP (1) JP2006088258A (de)
KR (1) KR101209096B1 (de)
DE (1) DE602005019197D1 (de)
WO (1) WO2006033209A1 (de)

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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
US8336420B2 (en) * 2010-06-02 2012-12-25 Disney Enterprises, Inc. Three-axis robotic joint using four-bar linkages to drive differential side gears
JP5729956B2 (ja) * 2010-09-29 2015-06-03 Thk株式会社 移動ロボット用肢体駆動機構、およびこの肢体駆動機構を用いた移動ロボット
US9119655B2 (en) 2012-08-03 2015-09-01 Stryker Corporation Surgical manipulator capable of controlling a surgical instrument in multiple modes
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KR101278527B1 (ko) 2011-09-15 2013-06-25 대우조선해양 주식회사 링크 실린더 엑츄에이터 및 링크 실린더 엑츄에이터를 구비한 착용로봇
US9616580B2 (en) 2012-05-14 2017-04-11 Sarcos Lc End effector for a robotic arm
KR101374170B1 (ko) * 2012-07-12 2014-03-13 대우조선해양 주식회사 탄성체와 링크를 이용한 관절토크 보상기구
US9226796B2 (en) 2012-08-03 2016-01-05 Stryker Corporation Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path
KR102668586B1 (ko) 2012-08-03 2024-05-28 스트리커 코포레이션 로봇 수술을 위한 시스템 및 방법
KR101243140B1 (ko) * 2012-11-07 2013-03-13 엘아이지넥스원 주식회사 착용로봇
KR200472407Y1 (ko) 2013-11-05 2014-04-24 주식회사 세인비앤티 2족 보행 로봇
KR102241853B1 (ko) 2014-03-28 2021-04-19 삼성전자주식회사 관절 어셈블리 및 이를 포함하는 보행보조로봇
US10533542B2 (en) 2014-05-06 2020-01-14 Sarcos Lc Rapidly modulated hydraulic supply for a robotic device
US10512583B2 (en) 2014-05-06 2019-12-24 Sarcos Lc Forward or rearward oriented exoskeleton
US10766133B2 (en) 2014-05-06 2020-09-08 Sarcos Lc Legged robotic device utilizing modifiable linkage mechanism
US10406676B2 (en) 2014-05-06 2019-09-10 Sarcos Lc Energy recovering legged robotic device
US10144464B1 (en) * 2014-07-10 2018-12-04 National Technology & Engineering Solutions Of Sandia, Llc Energy efficient robot
US9638216B1 (en) * 2014-07-31 2017-05-02 Google Inc. Discretized valve state control for multi-level hydraulic systems
JP6087329B2 (ja) * 2014-09-19 2017-03-01 Thk株式会社 ロボットにおける回転駆動機構
KR101517822B1 (ko) * 2014-09-24 2015-05-06 한국기계연구원 유연 관절 로봇
JP6350350B2 (ja) * 2015-03-19 2018-07-04 株式会社安川電機 ロボットおよびロボットへのバランサの取り付け方法
US10189519B2 (en) * 2015-05-29 2019-01-29 Oregon State University Leg configuration for spring-mass legged locomotion
CN104986242B (zh) * 2015-07-07 2018-04-20 重庆大学 机器人行走机构
WO2017087986A1 (en) * 2015-11-20 2017-05-26 The Regents On The University Of California Non-anthropomorphic bipedal robotic system
JP6745119B2 (ja) * 2016-03-09 2020-08-26 川崎重工業株式会社 関節型ロボットおよびそのガススプリングのガス減少状態推定方法
JP7016213B2 (ja) * 2016-11-09 2022-02-04 株式会社東芝 アーム構造および搬送装置
US10821614B2 (en) 2016-11-11 2020-11-03 Sarcos Corp. Clutched joint modules having a quasi-passive elastic actuator for a robotic assembly
US10828767B2 (en) 2016-11-11 2020-11-10 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators with internal valve arrangements
US10765537B2 (en) 2016-11-11 2020-09-08 Sarcos Corp. Tunable actuator joint modules having energy recovering quasi-passive elastic actuators for use within a robotic system
US10919161B2 (en) 2016-11-11 2021-02-16 Sarcos Corp. Clutched joint modules for a robotic system
EP3554414A1 (de) 2016-12-16 2019-10-23 MAKO Surgical Corp. Techniken zur modifizierung der werkzeugbedienung in einem chirurgischen robotischen system auf basis des vergleichs von gegenwärtigen und befohlenen zuständen des werkzeugs in bezug auf eine operationsstelle
US11413745B2 (en) * 2017-09-22 2022-08-16 Virginia Tech Intellectual Properties, Inc. Articulated, closed kinematic chain planar monopod
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
US10843330B2 (en) 2017-12-07 2020-11-24 Sarcos Corp. Resistance-based joint constraint for a master robotic system
US11331809B2 (en) 2017-12-18 2022-05-17 Sarcos Corp. Dynamically controlled robotic stiffening element
US11351675B2 (en) 2018-12-31 2022-06-07 Sarcos Corp. Robotic end-effector having dynamic stiffening elements for conforming object interaction
US10906191B2 (en) 2018-12-31 2021-02-02 Sarcos Corp. Hybrid robotic end effector
US11241801B2 (en) 2018-12-31 2022-02-08 Sarcos Corp. Robotic end effector with dorsally supported actuation mechanism
CN111496844B (zh) * 2020-04-23 2021-10-22 山东领信信息科技股份有限公司 一种可以对凹陷处作出应急反应的智能机器人
US11833676B2 (en) 2020-12-07 2023-12-05 Sarcos Corp. Combining sensor output data to prevent unsafe operation of an exoskeleton
US11794345B2 (en) 2020-12-31 2023-10-24 Sarcos Corp. Unified robotic vehicle systems and methods of control
CN113479274B (zh) * 2021-08-19 2022-07-22 安徽理工大学 一种具有被动柔性膝关节的液压足式机器人单腿机构
CN114313053B (zh) * 2022-01-06 2023-06-02 江苏镌极特种设备有限公司 一种分布式驱动的液压机器人
CN115071857B (zh) * 2022-06-15 2023-05-05 河南工程学院 一种四轮腿式全地形农业机器人
CN114851175B (zh) * 2022-07-11 2022-10-28 佛山科学技术学院 一种机械外骨骼
US11826907B1 (en) 2022-08-17 2023-11-28 Sarcos Corp. Robotic joint system with length adapter
US11717956B1 (en) 2022-08-29 2023-08-08 Sarcos Corp. Robotic joint system with integrated safety
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JP4255663B2 (ja) * 2002-08-28 2009-04-15 本田技研工業株式会社 脚式移動ロボット

Also Published As

Publication number Publication date
EP1820612A4 (de) 2008-05-21
EP1820612A1 (de) 2007-08-22
US7658246B2 (en) 2010-02-09
JP2006088258A (ja) 2006-04-06
US20080210477A1 (en) 2008-09-04
KR20070057209A (ko) 2007-06-04
KR101209096B1 (ko) 2012-12-06
EP1820612B1 (de) 2010-01-27
WO2006033209A1 (ja) 2006-03-30

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: HONDA MOTOR CO., LTD., TOKYO, JP

8328 Change in the person/name/address of the agent

Representative=s name: WEICKMANN & WEICKMANN, 81679 MUENCHEN