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公开(公告)号：EP0433096B1
公开(公告)日：1997-10-22
申请号：EP90313722.2
申请日：1990-12-14
CPC分类号： B62D57/02 , B25J9/06 , B25J9/1025 , B25J17/0241 , B25J17/0275
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公开(公告)号：EP0433096A3
公开(公告)日：1992-01-29
申请号：EP90313722.2
申请日：1990-12-14
CPC分类号： B62D57/02 , B25J9/06 , B25J9/1025 , B25J17/0241 , B25J17/0275
摘要： A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis (12) of a hip joint assembly, comprising an electric motor (74) for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis (12) about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer (72) having an input shaft which is coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor (52) for angularly moving the leg in the roll direction and a second speed reducer (56) having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.
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3.发明公开
公开(公告)号：EP0433096A2
公开(公告)日：1991-06-19
申请号：EP90313722.2
申请日：1990-12-14
CPC分类号： B62D57/02 , B25J9/06 , B25J9/1025 , B25J17/0241 , B25J17/0275
摘要： A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis (12) of a hip joint assembly, comprising an electric motor (74) for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis (12) about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer (72) having an input shaft which is coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor (52) for angularly moving the leg in the roll direction and a second speed reducer (56) having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.
摘要翻译： 例如，双腿步行机器人的腿式行走机器人具有至少两个自由度的铰接结构，其中一个是具有围绕第一轴线在俯仰方向上成角度地移动腿的自由度（ 12），其包括用于在俯仰方向上使腿部成角度地移动的电动机（74）。 电动机具有与第一轴线（12）轴向对齐的输出轴，腿部可以沿着该第一轴线在俯仰方向上成角度地移动。 铰接结构还具有减速器（72），其具有与电动机的输出轴同轴的输入轴。 另一自由度是在垂直于俯仰方向的滚动方向上使腿部成角度地移动的自由度。 所述铰接结构还包括用于在所述辊方向上使所述腿成角度地移动的第二电动机（52）和具有输出轴的第二减速器（56），所述第二减速器具有与第二轴线同轴的输出轴，所述第二轴线可绕所述第二轴线在所述辊中成角度地移动 方向。
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4.发明公开
公开(公告)号：EP2085193A3
公开(公告)日：2009-11-04
申请号：EP08015944.5
申请日：2002-12-19
IPC分类号： B25J5/00
CPC分类号： B62D57/02 , B25J13/081 , B25J13/085 , B25J13/088 , B62D57/032
摘要： In a legged mobile robot (1), a plurality of displacement sensors (70) is installed in a space between a second joint (18,20) connecting a distal end of a leg (2) and a foot (22) and a floor contact end of the foot. A discriminator (26,S12) is provided for discriminating whether the output of the displacement sensors (70) satisfy a predetermined relationship, and a self-diagnoser (26,S14) is provided for self-diagnosing whether at least one of the displacement sensors (70) is abnormal based on a discrimination result of the discriminator (26,S12).
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公开(公告)号：EP2011611A2
公开(公告)日：2009-01-07
申请号：EP08017153.1
申请日：2003-08-07
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
摘要翻译： 在有腿的移动机器人（1）中，每个腿（2）在重力方向上具有至少一个位于第一关节下方的第一关节（16）和第二关节（18,20），并且驱动第二关节 （54,56）位于与所述第一关节的位置相同的位置和所述重力方向上的所述第一关节的上方的位置（28）中的至少一个。 由此，可以减轻腿部的接地端的重量，并由此提供一种有腿的移动式机器人，该移动式机器人能够减小在移动过程中发生在腿中的惯性力，特别是在高速移动过程中。
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6.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
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。
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公开(公告)号：EP0406018B1
公开(公告)日：1994-08-24
申请号：EP90307179.3
申请日：1990-06-29
IPC分类号： B62D57/032
CPC分类号： B62D57/032
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公开(公告)号：EP2011611A3
公开(公告)日：2009-04-08
申请号：EP08017153.1
申请日：2003-08-07
CPC分类号： B25J9/1065 , B62D57/032
摘要： In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
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公开(公告)号：EP0791439B1
公开(公告)日：2002-04-03
申请号：EP97200866.8
申请日：1990-12-14
CPC分类号： B62D57/02 , B25J9/06 , B25J9/1025 , B25J17/0241 , B25J17/0275
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公开(公告)号：EP0791439A2
公开(公告)日：1997-08-27
申请号：EP97200866.8
申请日：1990-12-14
CPC分类号： B62D57/02 , B25J9/06 , B25J9/1025 , B25J17/0241 , B25J17/0275
摘要： A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis (12) of a hip joint assembly, comprising an electric motor (74) for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis (12) about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer (72) having an input shaft which is coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor (52) for angularly moving the leg in the roll direction and a second speed reducer(56) having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.
摘要翻译： 例如，双腿步行机器人的腿式行走机器人具有至少两个自由度的铰接结构，其中一个是具有围绕第一轴线在俯仰方向上成角度地移动腿的自由度（ 12），其包括用于在俯仰方向上使腿部成角度地移动的电动机（74）。 电动机具有与第一轴线（12）轴向对齐的输出轴，腿部可以沿着该第一轴线在俯仰方向上成角度地移动。 铰接结构还具有减速器（72），其具有与电动机的输出轴同轴的输入轴。 另一自由度是在垂直于俯仰方向的滚动方向上使腿部成角度地移动的自由度。 所述铰接结构还包括用于在所述辊方向上使所述腿成角度地移动的第二电动机（52）和具有输出轴的第二减速器（56），所述第二减速器具有与第二轴线同轴的输出轴，所述第二轴线可绕所述第二轴线在所述辊中成角度地移动 方向。
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