LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT
    1.
    发明公开
    LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 有权
    腿关节支承装置与腿BORDER机器人

    公开(公告)号:EP1808276A4

    公开(公告)日:2008-03-26

    申请号:EP05768955

    申请日:2005-08-05

    CPC分类号: B62D57/032 B25J19/0091

    摘要: While a solenoid valve (23) of a gas passage (22) communicating with gas chambers (16, 17) is closed, an assist device (12) produces an assisting drive force by compression/expansion of a gas when a leg (3) flexes/stretches at a knee joint (specific joint) (8) and acts the force on the knee joint (8). While the solenoid valve (23) is open, no assisting drive force is produced. The solenoid valve (23) has a self-holding function. The solenoid valve (23) is so provided in the gas passage (22) that the difference between the pressures in the gas chambers (16, 17) acts so that the valve is closed during a predetermined period during which the solenoid valve (23) is closed. With this, the power consumption of the solenoid valve can be effectively reduced through a simple structure.

    LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT
    2.
    发明公开
    LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 有权
    腿关节支承装置与腿移动机器人

    公开(公告)号:EP1820612A4

    公开(公告)日:2008-05-21

    申请号:EP05780369

    申请日:2005-08-17

    IPC分类号: B25J19/00 B25J5/00

    摘要: A leg joint assist device (11) of a legged mobile robot, comprising a spring means (21)(gas spring). A piston (24) in a cylinder (23) is vertically moved according to the relative displacement motion (bending and stretching motion) of a femoral region (4) and a crural region (5) at the knee joint (8) of the leg (3) of the robot. A gas is filled in gas chambers (25) and (26) on the upper and lower sides of the piston (24). When the degree of the bending of the leg body at the knee joint (8) is equal to or less than a specified value, the gas chambers (25) and (26) are allowed to communicate with each other through grooves (28) in the cylinder (23), and the spring means (21) does not produce an elastic force. When the degree of the bending exceeds the specified value, the gas chambers (25) and (26) are brought into a sealed state with each other, and the spring means (21) produces an elastic force which acts on the knee joint (8) as an auxiliary drive force. Thus, a burden on the joint actuator of the leg can be reduced while reducing the energy consumption of the robot by a compact and simple structure. Also, a variation in the characteristics of the auxiliary drive force of the spring means (21) against the degree of the bending of the knee joint (8) can be suppressed.

    CONTROL DEVICE OF LEGGED MOBILE ROBOT
    5.
    发明公开
    CONTROL DEVICE OF LEGGED MOBILE ROBOT 有权
    控制装置腿移动机器人

    公开(公告)号:EP1502711A4

    公开(公告)日:2008-10-22

    申请号:EP03725697

    申请日:2003-04-28

    IPC分类号: B62D57/032 B25J5/00

    CPC分类号: B62D57/032

    摘要: A control device of a legged mobile robot, wherein a state amount deviation (for example, the deviation of the vertical position of an upper body (3)), which is a deviation between an actual state amount and the state amount of a target gait pattern in the translation motion (for example, translation motion in vertical direction) of the legged mobile robot (1) in a specified direction, is obtained and the target motion of the target gait pattern is determined so that the state amount deviation can be brought into near zero, the target motion is determined by using a dynamic model by additionally inputting a virtual external force determined according to the state amount deviation into the dynamic model for generating the target gait pattern, the target floor reaction of the robot (1) is corrected according to the state amount deviation of zero, and the motion and the floor reaction of the robot (1) are allowed to follow up the target motion of the target gait pattern and the target floor reaction by a compliance control.

    DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT
    7.
    发明公开
    DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权
    VORRICHTUNG ZUR AUFNAHME VONBODENAUFTREFFSTÖSSENFÜRMOBILEN ROBOTER MIT BEINEN

    公开(公告)号:EP1475191A4

    公开(公告)日:2008-02-13

    申请号:EP02788803

    申请日:2002-12-11

    摘要: A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber. Air in the atmosphere can flow in and flow out of the bag-like member (19) through inflow/ outflow means (20) provided with a solenoid valve (27) etc. When the foot sole mechanism (6) is off the floor, air flow into the bag-like member (19) is controlled so that the height of the bag-like member (19) in the final inflation state is controlled to a height corresponding to the gait form of the robot. The shock load when the leg body of the legged mobile robot lands on the floor is reduced appropriately in accordance with the gait form of the robot while at the same time posture stability of the robot is ensured easily, and, further, the robot can be structured light in weight.

    摘要翻译: 一种用于吸收设置在机器人腿的脚机构(6)中的落地冲击的装置(18)。 该装置包括在脚机构(6)的地面接触表面侧上的可充气/可放气的袋状构件(19)(可变体积体)。 袋状构件(19)由诸如橡胶的弹性材料形成。 通过设置有电磁阀(27)等的流入/流出装置(20),大气中的空气可以流入并流出袋状构件(19)。当脚底机构(6)离开地板时, 通过控制流入袋状部件19内的气流,使最终膨胀状态下的袋状部件19的高度被控制为与机器人的步行形态对应的高度。 当腿式移动机器人的腿体落在地板上时的冲击负荷根据机器人的步态形式适当地减小,同时容易确保机器人的姿势稳定性,此外,机器人可以是 重量轻的结构光。

    DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT
    8.
    发明公开
    DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权
    装置用于吸收冲击土壤的影响与腿移动机器人

    公开(公告)号:EP1466704A4

    公开(公告)日:2008-02-13

    申请号:EP02788802

    申请日:2002-12-11

    摘要: A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber. Air in the atmosphere can flow in and out of the bag-like member (19) through inflow/ outflow means (20) provided with a solenoid valve (27) etc. When the foot sole mechanism (6) is on the floor and immediately after the mechanism is changed from an on-floor state to an off-floor state, the solenoid valve (27) is closed and the bag-like member (19) is kept compressed. When the bag-like member (19) is inflated while the foot mechanism (6) is off the floor, the timing at which the solenoid valve (27) is changed from an opened state to a closed state is controlled so that the height in the compression direction of the bag-like member (19) is controlled to a height appropriate to the gait form of the robot. The shock load when the leg of the legged mobile robot lands on the floor is reduced appropriately while at the same time posture stability of the robot can be ensured easily, and, further, the robot can be structured light in weight.