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    Legged walking robot with landing / shock absorbing means to protect its knees
    1.
    发明公开
    Legged walking robot with landing / shock absorbing means to protect its knees 有权
    Schreitroboter mit Beinen und mitStossdämpfungvorrichtungzumSchützenseiner Knie

    公开(公告)号：EP1081026A2

    公开(公告)日：2001-03-07

    申请号：EP00307458.0

    申请日：2000-08-30

    申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

    发明人： Takenaka, Toru ,  Kawai, Takayuki ,  Gomi, Hiroshi ,  Hasegawa, Tadaaki ,  Matsumoto, Takashi

    IPC分类号： B62D57/032 ,  B25J19/00

    CPC分类号： B62D57/032 ,  B25J19/0091

    摘要： In a legged walking robot (1) having a body (3) and two articulated legs (2) each connected to the body through a hip joint (10, 12) and having a knee joint (16) and an ankle joint (18, 20), connected by a shank link (26), a knee pad (90) is mounted on the shank link as a landing/shock absorbing means at a position (Xpad1) adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity (XG1) of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.

    摘要翻译： 在具有主体（3）和两个铰接腿（2）的腿式步行机器人（1）中，每个腿部彼此通过髋关节（10,12）连接到身体并具有膝关节（16）和踝关节（18， 20），通过柄连杆（26）连接，膝部垫（90）作为着陆/冲击吸收装置安装在与膝盖接触的位置（Xpad1）处的台架连接处，该位置与地板接触 当与地板进行膝盖 - 第一次接触时，使得膝关节位于机器人的重心方向（XG1）的前方位于机器人前进方向上，同时吸收与 地板。 这样，机器人可以轻松地从与膝盖关节区域接触的地板的姿态站起来。 此外，当与地板进行膝盖首次接触时，它可以吸收接触的冲击，以保护膝关节区域和地板免受损坏。

    Legged walking robot with landing / shock absorbing means to protect its knees
    3.
    发明公开
    Legged walking robot with landing / shock absorbing means to protect its knees 有权
    用于保护他的膝盖足步行机器人和冲击吸收设备

    公开(公告)号：EP1081026A3

    公开(公告)日：2001-11-07

    申请号：EP00307458.0

    申请日：2000-08-30

    申请人： HONDA GIKEN KOGYO KABUSHIKI KAISHA

    发明人： Takenaka, Toru ,  Kawai, Takayuki ,  Gomi, Hiroshi ,  Hasegawa, Tadaaki ,  Matsumoto, Takashi

    IPC分类号： B62D57/032 ,  B25J19/00

    CPC分类号： B62D57/032 ,  B25J19/0091

    摘要： In a legged walking robot (1) having a body (3) and two articulated legs (2) each connected to the body through a hip joint (10, 12) and having a knee joint (16) and an ankle joint (18, 20), connected by a shank link (26), a knee pad (90) is mounted on the shank link as a landing/shock absorbing means at a position (Xpad1) adjacent to the knee joint which is brought into contact with the floor when coming into knee-first contact with the floor such that the knee joint is to be positioned at a location forward of the center of gravity (XG1) of the robot in a direction of robot advance, while absorbing impact occurring from the contact with the floor. With this, the robot can be easily stood up from an attitude with its knee joint regions in contact with the floor. Moreover, when coming into knee-first contact with the floor, it can absorb the impact of the contact to protect the knee joint regions and the floor from damage.

    摘要翻译： 在一个足步行机器人（1）具有主体（3）和两个铰接腿（2）各通过髋关节（10，12）和具有膝关节（16）和（踝关节18连接到所述主体， （20）由小腿连杆（26），膝垫（90），其连接安装在小腿连接件作为登陆/减震装置在邻近于膝关节的位置Xpad1）上的所有其被带入与地面接触 当进入与检查的地板膝第一接触并膝关节是在向前重力的机器人的机器人前进的方向上的中心（XG1）的位置被定位，同时吸收冲击从与所述接触发生的 地板。 这样，机器人可以很容易地从与地面接触的膝关节地区的态度站了起来。 更结束了，当进入与地面膝第一次接触，它可以吸收接触的冲击，以保护膝关节区，从损坏的地板。