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公开(公告)号：US08467903B2
公开(公告)日：2013-06-18
申请号：US12564086
申请日：2009-09-22
申请人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
发明人： Chris A. Ihrke , David M. Reich , Lyndon Bridgwater , Douglas Martin Linn , Scott R. Askew , Myron A. Diftler , Robert Platt , Brian Hargrave , Michael C. Valvo , Muhammad E. Abdallah , Frank Noble Permenter , Joshua S. Mehling
CPC分类号： B25J15/0009 , B25J9/104 , Y10T74/20305
摘要： A humanoid robot includes a robotic hand having at least one finger. An actuation system for the robotic finger includes an actuator assembly which is supported by the robot and is spaced apart from the finger. A tendon extends from the actuator assembly to the at least one finger and ends in a tendon terminator. The actuator assembly is operable to actuate the tendon to move the tendon terminator and, thus, the finger.
摘要翻译： 人形机器人包括具有至少一根手指的机器手。 用于机器人手指的致动系统包括由机器人支撑并与手指间隔开的致动器组件。 腱从致动器组件延伸到至少一个手指并且终止于腱终止器中。 致动器组件可操作以致动肌腱以移动肌腱终端器，从而移动手指。
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公开(公告)号：US20110067521A1
公开(公告)日：2011-03-24
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Philip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US08511964B2
公开(公告)日：2013-08-20
申请号：US12564084
申请日：2009-09-22
申请人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
发明人： Douglas Martin Linn , Robert O. Ambrose , Myron A. Diftler , Scott R. Askew , Robert Platt , Joshua S. Mehling , Nicolaus A. Radford , Phillip A. Strawser , Lyndon Bridgwater , Charles W. Wampler, II , Muhammad E. Abdallah , Chris A. Ihrke , Matthew J. Reiland , Adam M. Sanders , David M. Reich , Brian Hargrave , Adam H. Parsons , Frank Noble Permenter , Donald R. Davis
IPC分类号： B25J11/00
CPC分类号： B25J18/00 , B25J15/0009 , Y10T74/20305 , Y10T74/20329 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.
摘要翻译： 人形机器人包括一个躯干，一双手臂，两只手，一个脖子和一个头。 躯干沿主轴延伸并呈现一对肩。 所述一对臂从所述一对肩部中的相应一个可移动地延伸。 每个臂具有多个臂关节。 颈部沿着主轴从躯干运动地延伸。 颈部至少有一个颈关节。 头部从颈部沿着主轴线可移动地延伸。 头部至少有一个头关节。 肩膀彼此倾斜，以每个肩膀之间所定义的耸肩角度相互倾斜，从而在肩膀之间定义工作空间。
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公开(公告)号：US20110068595A1
公开(公告)日：2011-03-24
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译： 机器人手包括具有第一，第二和第三趾骨的手指。 第一接头将第一趾部可旋转地连接到基部结构。 第二关节可旋转地将第一趾部连接到第二趾部。 第三关节将第三趾部可旋转地连接到第二趾部。 第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。
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公开(公告)号：US08562049B2
公开(公告)日：2013-10-22
申请号：US12564078
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
发明人： Chris A. Ihrke , Lyndon Bridgwater , Myron A. Diftler , Douglas Martin Linn , Robert Platt , Brian Hargrave , Scott R. Askew , Michael C. Valvo
CPC分类号： B25J15/08 , B25J9/104 , B25J15/0009
摘要： A robotic hand includes a finger with first, second, and third phalanges. A first joint rotatably connects the first phalange to a base structure. A second joint rotatably connects the first phalange to the second phalange. A third joint rotatably connects the third phalange to the second phalange. The second joint and the third joint are kinematically linked such that the position of the third phalange with respect to the second phalange is determined by the position of the second phalange with respect to the first phalange.
摘要翻译： 机器人手包括具有第一，第二和第三趾骨的手指。 第一接头将第一趾部可旋转地连接到基部结构。 第二关节可旋转地将第一趾部连接到第二趾部。 第三关节将第三趾部可旋转地连接到第二趾部。 第二关节和第三关节被运动连接，使得第三趾骨相对于第二趾骨的位置由第二趾骨相对于第一趾骨的位置确定。
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公开(公告)号：US08401700B2
公开(公告)日：2013-03-19
申请号：US12564124
申请日：2009-09-22
CPC分类号： B25J18/00 , Y10T74/20317 , Y10T74/20335
摘要： The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.
摘要翻译： 用于人形机器人的下臂组件包括具有第一侧和第二侧的臂支撑件，安装到臂支撑件的第一侧的多个手腕致动器，安装到臂支撑件的第二侧的多个手指致动器 以及还位于臂支撑件的第一侧上的多个电子设备。
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公开(公告)号：US20110071671A1
公开(公告)日：2011-03-24
申请号：US12564088
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , David M. Reich , Charles W. Wampler, II , Scott R. Askew , Myron A. Diftler , Vienny Nguyen
发明人： Chris A. Ihrke , Lyndon Bridgwater , David M. Reich , Charles W. Wampler, II , Scott R. Askew , Myron A. Diftler , Vienny Nguyen
CPC分类号： B25J17/0258 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.
摘要翻译： 人形机器人包括躯干，一对手臂，颈部，头部，腕关节组件和控制系统。 手臂和脖子可以从躯干上移动。 每个臂包括下臂和相对于下臂可旋转的手。 腕关节组件可操作地限定在下臂和手之间。 腕关节组件包括偏转轴和俯仰轴。 俯仰轴线以与偏转轴线成间隔的关系设置，使得轴线大致垂直。 俯仰轴在偏转轴和下臂之间延伸。 手可围绕每个偏转轴和俯仰轴相对于下臂旋转。 控制系统被配置为确定腕关节组件的偏航角和俯仰角。
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公开(公告)号：US08498741B2
公开(公告)日：2013-07-30
申请号：US12564088
申请日：2009-09-22
申请人： Chris A. Ihrke , Lyndon Bridgwater , David M. Reich , Charles W. Wampler, II , Scott R. Askew , Myron A. Diftler , Vienny Nguyen
发明人： Chris A. Ihrke , Lyndon Bridgwater , David M. Reich , Charles W. Wampler, II , Scott R. Askew , Myron A. Diftler , Vienny Nguyen
CPC分类号： B25J17/0258 , Y10T74/20335
摘要： A humanoid robot includes a torso, a pair of arms, a neck, a head, a wrist joint assembly, and a control system. The arms and the neck movably extend from the torso. Each of the arms includes a lower arm and a hand that is rotatable relative to the lower arm. The wrist joint assembly is operatively defined between the lower arm and the hand. The wrist joint assembly includes a yaw axis and a pitch axis. The pitch axis is disposed in a spaced relationship to the yaw axis such that the axes are generally perpendicular. The pitch axis extends between the yaw axis and the lower arm. The hand is rotatable relative to the lower arm about each of the yaw axis and the pitch axis. The control system is configured for determining a yaw angle and a pitch angle of the wrist joint assembly.
摘要翻译： 人形机器人包括躯干，一对手臂，颈部，头部，腕关节组件和控制系统。 手臂和脖子可以从躯干上移动。 每个臂包括下臂和相对于下臂可旋转的手。 腕关节组件可操作地限定在下臂和手之间。 腕关节组件包括偏转轴和俯仰轴。 俯仰轴线以与偏转轴线成间隔的关系设置，使得轴线大致垂直。 俯仰轴在偏转轴和下臂之间延伸。 手可围绕每个偏转轴和俯仰轴相对于下臂旋转。 控制系统被配置为确定腕关节组件的偏航角和俯仰角。
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公开(公告)号：US20110071673A1
公开(公告)日：2011-03-24
申请号：US12564124
申请日：2009-09-22
CPC分类号： B25J18/00 , Y10T74/20317 , Y10T74/20335
摘要： The lower arm assembly for a humanoid robot includes an arm support having a first side and a second side, a plurality of wrist actuators mounted to the first side of the arm support, a plurality of finger actuators mounted to the second side of the arm support and a plurality of electronics also located on the first side of the arm support.
摘要翻译： 用于人形机器人的下臂组件包括具有第一侧和第二侧的臂支撑件，安装到臂支撑件的第一侧的多个手腕致动器，安装到臂支撑件的第二侧的多个手指致动器 以及还位于臂支撑件的第一侧上的多个电子设备。
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