ES2168001T3 - Aparato estabilizado por giroscopo, y en particular un robot bipedo. - Google Patents
Aparato estabilizado por giroscopo, y en particular un robot bipedo.Info
- Publication number
- ES2168001T3 ES2168001T3 ES99901619T ES99901619T ES2168001T3 ES 2168001 T3 ES2168001 T3 ES 2168001T3 ES 99901619 T ES99901619 T ES 99901619T ES 99901619 T ES99901619 T ES 99901619T ES 2168001 T3 ES2168001 T3 ES 2168001T3
- Authority
- ES
- Spain
- Prior art keywords
- upper body
- windlass
- gyroscopic
- actuators
- gravity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/04—Details
- G01C19/30—Erection devices, i.e. devices for restoring rotor axis to a desired position
-
- 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
- Y10T74/12—Gyroscopes
- Y10T74/1218—Combined
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
- Motorcycle And Bicycle Frame (AREA)
Abstract
Aparato compuesto por al menos una pierna de apoyo (13, 33) y un cuerpo superior (11, 30) unido a la pierna de apoyo, y configurado a modo de péndulo inverso con relación a la gravedad, en el que el cuerpo superior comprende un molinete giroscópico (2, 3) que gira en torno a un eje de rotación (4), y que se encuentra alojado en una caja (1), que se caracteriza porque la caja está conectada al cuerpo superior por medio de una unión mecánica que permite movimientos de rotación según dos ejes no paralelos, incluyendo el aparato captadores (18, 19) que permiten medir un efecto de desequilibrio producido por la gravedad sobre el aparato, medios que permiten equilibrar el aparato ejerciendo esfuerzos antagonistas, apoyando sobre el molinete giroscópico con la ayuda de accionadores (16, 17), y un sistema de comando asociado, capacitado para sacar provecho de los accionadores y captadores del aparato para equilibrarlo.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9800050A FR2773339B1 (fr) | 1998-01-06 | 1998-01-06 | Appareil stabilise par un gyroscope, et notamment un robot bipede |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2168001T3 true ES2168001T3 (es) | 2002-05-16 |
Family
ID=9521545
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES99901619T Expired - Lifetime ES2168001T3 (es) | 1998-01-06 | 1999-01-05 | Aparato estabilizado por giroscopo, y en particular un robot bipedo. |
Country Status (8)
Country | Link |
---|---|
US (2) | US6527071B1 (es) |
EP (1) | EP1044130B1 (es) |
JP (1) | JP2002500113A (es) |
CA (1) | CA2316832A1 (es) |
DE (1) | DE69900433T2 (es) |
ES (1) | ES2168001T3 (es) |
FR (1) | FR2773339B1 (es) |
WO (1) | WO1999035026A1 (es) |
Families Citing this family (53)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7740099B2 (en) | 1999-06-04 | 2010-06-22 | Segway Inc. | Enhanced control of a transporter |
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 |
JP3634238B2 (ja) * | 2000-05-19 | 2005-03-30 | 本田技研工業株式会社 | 脚式移動ロボットの床形状推定装置 |
JP3726009B2 (ja) * | 2000-05-19 | 2005-12-14 | 本田技研工業株式会社 | 脚式移動ロボットの床形状推定装置 |
WO2003022532A2 (en) * | 2001-09-09 | 2003-03-20 | Advanced Robotic Vehicles, Inc. | Surface adhering tool carrying 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 |
AU2003237536A1 (en) * | 2002-06-11 | 2003-12-22 | Deka Products Limited Partnership | Hybrid human/electric powered vehicle |
US20040040756A1 (en) * | 2002-09-03 | 2004-03-04 | Abdulareef Nmngani | Gyroscopically stabilized vehicle |
SI21611A (sl) * | 2003-10-07 | 2005-04-30 | Kajetan Bajt | Naprava za zagotavljanje ravnotežnega položaja vozila |
US7168513B2 (en) * | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
CN1319800C (zh) * | 2004-04-08 | 2007-06-06 | 辽宁工程技术大学 | 凸轮转换式三关节机械腿 |
US20070257451A1 (en) | 2006-05-08 | 2007-11-08 | Chiba Institute Of Technology | Car, walking apparatus, and method of determining shape of wheel |
JP2006290347A (ja) * | 2006-05-08 | 2006-10-26 | Chiba Inst Of Technology | 車 |
JP4410051B2 (ja) * | 2004-07-22 | 2010-02-03 | 本田技研工業株式会社 | 角速度計測装置および脚式移動ロボット |
DE102004045805A1 (de) * | 2004-09-22 | 2006-04-13 | Ferenc Farkas | Vorrichtung und Verfahren zur Stabilisierung zweibeiniger Roboter |
GB2426963B (en) * | 2005-06-07 | 2009-02-18 | Clive George Hemsley | Control apparatus for motorised article |
US8251390B2 (en) * | 2005-06-30 | 2012-08-28 | The Gyrobike, Inc. | System and method for providing gyroscopic stabilization to a wheeled vehicle |
US7314225B2 (en) * | 2005-06-30 | 2008-01-01 | Gyro-Precession Stability Llc | System for providing gyroscopic stabilization to a two-wheeled vehicle |
CN100421882C (zh) * | 2005-09-22 | 2008-10-01 | 上海交通大学 | 自立式动态平衡移动机器人 |
US7348747B1 (en) | 2006-03-30 | 2008-03-25 | Vecna | Mobile robot platform |
US7979179B2 (en) * | 2006-08-11 | 2011-07-12 | Segway Inc. | Apparatus and method for pitch state estimation for a vehicle |
KR101406469B1 (ko) | 2006-08-11 | 2014-06-13 | 세그웨이 아이엔씨. | 전기 운송수단의 속도 제한 |
KR20120010087A (ko) * | 2008-04-25 | 2012-02-02 | 이-퓨얼 코포레이션 | 에탄올 생산을 위한 마이크로 정제 시스템 |
US20090271258A1 (en) * | 2008-04-25 | 2009-10-29 | Quinn Thomas J | Method for using carbon credits with micro refineries |
US20090269834A1 (en) * | 2008-04-25 | 2009-10-29 | Quinn Thomas J | Micro refinery system for ethanol production |
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 |
KR20110047847A (ko) * | 2009-10-30 | 2011-05-09 | 삼성전자주식회사 | 휴머노이드 로봇 및 그 제어방법 |
JP5511523B2 (ja) * | 2010-06-04 | 2014-06-04 | 地方独立行政法人東京都立産業技術研究センター | 二脚型移動装置 |
US20140180184A1 (en) * | 2012-09-14 | 2014-06-26 | James Duguid | Neuroplasticity vertigo treatment device and method |
US20150209212A1 (en) * | 2012-09-14 | 2015-07-30 | James R. Duguid | Method and apparatus for treating, assessing and/or diagnosing balance disorders using a control moment gyroscopic perturbation device |
WO2014138439A1 (en) * | 2013-03-06 | 2014-09-12 | Massachusetts Institute Of Technology | Discrete motion system |
CN103738427B (zh) * | 2014-01-10 | 2016-03-23 | 桂林电子科技大学 | 空中姿态可调单腿连续跳跃机器人 |
TWI551494B (zh) * | 2014-05-07 | 2016-10-01 | 國立清華大學 | 三維飛輪行動載具 |
US9283949B2 (en) | 2014-07-22 | 2016-03-15 | Google Inc. | Hybrid hydraulic and electrically actuated mobile robot |
NL2014927B1 (en) | 2015-06-05 | 2017-02-03 | Univ Delft Tech | Gyroscope for balance assist. |
CN105539627B (zh) * | 2015-12-25 | 2018-01-26 | 谭春升 | 一种代步工具 |
CN107685784B (zh) * | 2017-07-28 | 2019-12-13 | 安徽工程大学 | 一种磁吸定位的导轨式三维爬行机器人行走装置 |
US11001319B2 (en) * | 2017-10-19 | 2021-05-11 | Massachusetts Institute Of Technology | Mobile robot for locomotion through a 3-D periodic lattice environment |
CN109747728B (zh) * | 2017-11-07 | 2024-07-02 | 山东交通学院 | 一种全转动副模块化机器人运输平台 |
CN108297964A (zh) * | 2018-02-11 | 2018-07-20 | 坎德拉(深圳)科技创新有限公司 | 双足机器人及其行走控制方法 |
CN108466668B (zh) * | 2018-02-11 | 2020-10-27 | 坎德拉(深圳)科技创新有限公司 | 自动滚动行走装置及其运动控制方法 |
US10800049B2 (en) * | 2018-02-22 | 2020-10-13 | Boston Dynamics, Inc. | Maneuvering mobile robots |
US10802508B2 (en) * | 2018-02-22 | 2020-10-13 | Boston Dynamics, Inc. | Mobile robot |
CN113348129B (zh) * | 2018-12-03 | 2023-10-20 | 昆士兰大学 | 陀螺稳定腿式机器人 |
JP1639163S (es) * | 2019-02-15 | 2019-08-19 | ||
US11548151B2 (en) | 2019-04-12 | 2023-01-10 | Boston Dynamics, Inc. | Robotically negotiating stairs |
US11599128B2 (en) | 2020-04-22 | 2023-03-07 | Boston Dynamics, Inc. | Perception and fitting for a stair tracker |
CN109969280A (zh) * | 2019-04-28 | 2019-07-05 | 北京史河科技有限公司 | 爬壁机器人 |
CN110561383B (zh) * | 2019-09-05 | 2021-01-01 | 南京社区集网络科技有限公司 | 一种智慧购物配送机器人的驱动行进装置 |
CN110450142A (zh) * | 2019-09-09 | 2019-11-15 | 哈工大机器人(合肥)国际创新研究院 | 一种基于双陀螺仪部件的六自由度并联机器人 |
CN113022889B (zh) * | 2021-04-06 | 2022-07-12 | 哈尔滨工业大学 | 一种轮步复合行星巡视车及行走方法 |
CN113184077B (zh) * | 2021-06-09 | 2022-07-22 | 曾嘉禹 | 基于slam与机器视觉的灵巧任务型双足机器人及其控制方法 |
CN116100529B (zh) * | 2023-03-29 | 2023-06-13 | 成都大学 | 一种轨道巡检机器人的行走装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3124007A (en) * | 1964-03-10 | Automatic stabilization system for unstable vehicles | ||
US3900076A (en) * | 1973-11-16 | 1975-08-19 | Richard C Winfrey | Rough terrain vehicle utilizing gyroscopic forces (inchworm) |
JPS60255580A (ja) * | 1984-05-31 | 1985-12-17 | Hitoshi Takahashi | 歩行ロボツト |
JPS61113573A (ja) * | 1984-11-08 | 1986-05-31 | Hitoshi Takahashi | 歩行ロボツト |
US4951514A (en) * | 1988-09-09 | 1990-08-28 | Daniel Gubin | Dual gyroscopic stabilizer |
US5314034A (en) * | 1991-11-14 | 1994-05-24 | Chittal Nandan R | Powered monocycle |
DE4211423A1 (de) * | 1992-04-01 | 1994-03-31 | Martin Funke | Anwendung des Kreiselprinzip zur Stabilisierung von Schreibmechanismen |
FR2693970B3 (fr) * | 1992-07-24 | 1994-09-30 | Sardou Max | Véhicule du type bicyclette, motocyclette ou analogue. |
US5386738A (en) * | 1992-12-22 | 1995-02-07 | Honeywell Inc. | Direct torque control moment gyroscope |
US5603239A (en) * | 1995-09-05 | 1997-02-18 | Chong; Kerwin D. W. | Gyroscopic virtual counterweight for cranes |
US5839386A (en) * | 1996-05-08 | 1998-11-24 | Edward Frieling | Vehicle stabilizing by rotating mass |
-
1998
- 1998-01-06 FR FR9800050A patent/FR2773339B1/fr not_active Expired - Fee Related
-
1999
- 1999-01-05 WO PCT/FR1999/000006 patent/WO1999035026A1/fr active IP Right Grant
- 1999-01-05 JP JP2000527444A patent/JP2002500113A/ja not_active Withdrawn
- 1999-01-05 DE DE69900433T patent/DE69900433T2/de not_active Expired - Fee Related
- 1999-01-05 EP EP99901619A patent/EP1044130B1/fr not_active Expired - Lifetime
- 1999-01-05 ES ES99901619T patent/ES2168001T3/es not_active Expired - Lifetime
- 1999-01-05 CA CA002316832A patent/CA2316832A1/fr not_active Abandoned
- 1999-01-05 US US09/581,996 patent/US6527071B1/en not_active Expired - Fee Related
-
2002
- 2002-09-12 US US10/243,959 patent/US20030116363A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
EP1044130B1 (fr) | 2001-11-07 |
US20030116363A1 (en) | 2003-06-26 |
JP2002500113A (ja) | 2002-01-08 |
EP1044130A1 (fr) | 2000-10-18 |
FR2773339B1 (fr) | 2000-01-28 |
FR2773339A1 (fr) | 1999-07-09 |
US6527071B1 (en) | 2003-03-04 |
WO1999035026A1 (fr) | 1999-07-15 |
DE69900433D1 (de) | 2001-12-13 |
CA2316832A1 (fr) | 1999-07-15 |
DE69900433T2 (de) | 2002-08-01 |
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