公开(公告)号：EP1820612A4

公开(公告)日：2008-05-21

申请号：EP05780369

申请日：2005-08-17

申请人： HONDA MOTOR CO LTD ,  SHOWA CORP

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  AKIMOTO KAZUSHI ,  SHIROKURA SHINYA ,  ASATANI MINAMI ,  TANAKA KATSUSHI

IPC分类号： B25J19/00 ,  B25J5/00

CPC分类号： B62D57/032 ,  B25J19/0012 ,  Y10T403/32606

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.

公开(公告)号：EP1808276A4

公开(公告)日：2008-03-26

申请号：EP05768955

申请日：2005-08-05

申请人： HONDA MOTOR CO LTD ,  SHOWA CORP

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  AKIMOTO KAZUSHI ,  TANAKA KATSUSHI

IPC分类号： B25J17/00 ,  A63H11/18 ,  B25J5/00 ,  B25J19/00

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.

公开(公告)号：EP1535705A4

公开(公告)日：2008-04-09

申请号：EP03791197

申请日：2003-08-07

申请人： HONDA MOTOR CO LTD

发明人： GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TOYODA HITOSHI ,  TAKEMURA YOSHINARI

IPC分类号： B25J17/00 ,  B25J5/00 ,  B25J9/10 ,  B62D57/032

CPC分类号： B25J9/1065 ,  B62D57/032

摘要： A leg section of a legged mobile robot has at least a first joint (16) and second joints (18, 20) arranged more downward in the direction of gravity than the first joint. Actuators (54, 56) for driving the second joints are arranged at the same position as the first joint or at a position (28) more upward in the direction of gravity than the first joint. This enables to lighten the weight of the landing side of the leg section and to reduce inertia force generated in the leg section during movement.

摘要翻译： 有腿的移动机器人的腿部具有至少第一关节（16）和第二关节（18,20），其在重力方向上比第一关节更向下布置。 用于驱动第二关节的致动器（54,56）布置在与第一关节相同的位置处或者位于比第一关节更靠向重力方向的位置（28）处。 由此，能够减轻腿部的着地侧的重量，并且能够降低腿部在移动时产生的惯性力。

公开(公告)号：EP1464454A4

公开(公告)日：2008-03-12

申请号：EP02775300

申请日：2002-10-07

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TAKEMURA YOSHINARI

IPC分类号： B25J5/00 ,  B25J19/00 ,  B62D57/032

CPC分类号： B62D57/032 ,  B25J19/0012 ,  Y10T74/20305

摘要： An assist device 14 has a spring means 15 that produces an auxiliary driving force, by elastic energy, acting on the joint 8 of a leg 3. The spring means 15 is a gas spring having a cylinder 17 and a piston 18, and the bending and stretching motion between link members 4, 5 in the joint 8 is transmitted through a motion transmitting means 16 having a link arm 22 and the like. The spring means 15 is designed so that the auxiliary driving force increases with increasing knee bend angle theta until the knee bend angle theta reaches a predetermined angle and so that after the predetermined angle has been exceeded, the auxiliary driving force becomes lower than the driving force corresponding to the predetermined angle. This makes it possible to effectively lighten the burden on an actuator for the joint 8 of a leg type movable robot and hence to secure a satisfactory energy utilization efficiency and to achieve reduction in size of the construction.

公开(公告)号：EP1785235A4

公开(公告)日：2008-03-26

申请号：EP05736724

申请日：2005-04-28

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  MATSUMOTO KEIZO ,  GOMI HIROSHI ,  HAMAYA KAZUSHI

IPC分类号： B25J5/00

CPC分类号： F16F1/44 ,  B25J19/0091 ,  B62D57/032 ,  F16F3/12

摘要： A legged mobile robot (R), comprising an upper body (R2), leg parts (R1) connected to the upper body (R2) through first articulates (12, 13), foot parts (17) connected to the end parts of the leg parts (R1) through second articulates (15, 16). The legged mobile robot (R) is characterized in that the foot parts (17) comprise foot flat parts (61) having, at the lower end parts, ground-contact areas (64, 66) in contact with a floor surface, and the foot flat parts (61) comprise leaf spring parts (62) supporting the self-weight of the robot while deflecting when coming into contact with the floor surface.

摘要翻译： 一种有腿的移动机器人（R），包括上体（R2），通过第一铰接件（12,13）连接到上体（R2）的腿部分（R1），连接到第一铰接件 腿部（R1）穿过第二铰接部（15,16）。 有腿的移动机器人（R）的特征在于，脚部（17）包括足部平坦部分（61），其在下端部具有与地面接触的接地区域（64,66），并且 脚平坦部分（61）包括片簧部分（62），其支撑机器人的自重，同时在与地板表面接触时偏转。

公开(公告)号：EP1442846A4

公开(公告)日：2008-03-12

申请号：EP02768006

申请日：2002-09-24

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TAKEMURA Y ,  MATSUMOTO T ,  YOSHIIKE T ,  NISHIMURA Y ,  AKIMOTO K

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  F16F9/06

CPC分类号： F16F9/06 ,  B25J19/0008 ,  B25J19/0091 ,  Y10T74/20305

摘要： An assist device 12 for imparting an auxiliary driving force to a joint 8 in parallel with a driving force from a joint actuator 10 is installed between a femoral portion 4 and a crus portion 5 that are a pair of link members of a leg 3. The assist device 12 produces the auxiliary driving force by a spring means 15 such as a solid spring or air spring. A member 17 for holding a rod member 16 connected to the spring means 15 is provided with a means for transmitting the bending and stretching motion relative displacement motion between the femoral portion 4 and crus portion 5 of the leg 3 in the joint 8 to a spring means 15 to cause the latter to generate elastic force or for cutting off the transmission of bending and stretching motion to the spring means 15. This means is controlled according to the gait of the robot 1. This makes it possible to reduce the load on the joint actuator 10 as the need arises and to stably secure satisfactory energy utilization efficiency.

公开(公告)号：EP1459854A4

公开(公告)日：2008-02-13

申请号：EP02788801

申请日：2002-12-11

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TAKEMURA YOSHINARI ,  MATSUMOTO TAKASHI ,  YOSHIIKE TAKAHIDE ,  NISHIMURA YOICHI ,  AKIMOTO KAZUSHI ,  YOKOYAMA TARO

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  B62D57/032 ,  F16F9/04

CPC分类号： B62D57/032 ,  B25J19/0091 ,  F16F9/0481

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 and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.

公开(公告)号：EP1702725A4

公开(公告)日：2011-03-16

申请号：EP05761739

申请日：2005-07-25

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  MATSUMOTO KEIZO ,  GOMI HIROSHI ,  HAMAYA KAZUSHI

IPC分类号： B25J5/00

CPC分类号： B62D57/032

公开(公告)号：EP1736285A4

公开(公告)日：2008-05-21

申请号：EP05710394

申请日：2005-02-18

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  MIYAZAKI SUSUMU ,  HAMAYA KAZUSHI

IPC分类号： B25J5/00 ,  B25J19/00

CPC分类号： B25J19/0091

摘要： A legged mobile robot (1) and a control device for the robot, the robot comprising leg parts (22, 222, 223, 224) having leg part bodies (22m, 222m, 223m, 224m) and toe parts (22t, 222t, 223t, 224t) formed at the front end of the leg part body and allowed to bent and a bend angle holding mechanism (damper (50), friction brake (60)) capable of holding the bend angle (thetat) of the toe part. In the control device for the robot, the bend angle of the toe part is held when the leg part leaves a floor or at a first timing (t1) before the leg part leaves the floor, and the toe part is returned to an initial position at a second timing (t2) after the leg part leaves the floor. Accordingly, since the bend angle when the leg part leaves the floor can also be continuously held after the leg part leaves the floor, the attitude of the robot can be prevented from becoming unstable by the contact of the toe part with the surface of the floor immediately after the leg part leaves the floor. Also, the stability of the robot when it stands on tiptoe can also be increased.

公开(公告)号：EP1475191A4

公开(公告)日：2008-02-13

申请号：EP02788803

申请日：2002-12-11

申请人： HONDA MOTOR CO LTD

发明人： TAKENAKA TORU ,  GOMI HIROSHI ,  HAMAYA KAZUSHI ,  TAKEMURA YOSHINARI ,  MATSUMOTO TAKASHI ,  YOSHIIKE TAKAHIDE ,  NISHIMURA YOICHI ,  AKIMOTO KAZUSHI ,  YOKOYAMA TARO

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J19/00 ,  B62D57/02 ,  B62D57/032 ,  F16F9/04 ,  F16F15/023

CPC分类号： B62D57/032 ,  B25J19/0091 ,  B62D57/02 ,  F16F9/0481 ,  F16F15/023 ,  Y10T74/20299

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。