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公开(公告)号：US5416393A
公开(公告)日：1995-05-16
申请号：US65124
申请日：1993-05-20
申请人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto , Akira Takeno
发明人： Hiroshi Gomi , Masao Nishikawa , Masato Hirose , Hideaki Takahashi , Takashi Matsumoto , Akira Takeno
IPC分类号： B62D57/032 , G05B19/00
CPC分类号： B62D57/032
摘要： A foot structure of a biped waling mobile robot having a body and two articulated legs each having a foot at its distal end. In the foot structure, a movable foot piece is housed in each foot which is driven by an actuator to be swung out to enlarge the ground contact surface. A controller provided for the actuator and based on a condition of walking such as stair descending, it controls the operation of the actuator such that the foot's ground contact surface is enlarged. The structure has another aspect in which a ratio between distances from a point at which the foot is connected to the leg to the foot ends can also be adjusted in response to the walking condition. Moreover, the foot can be arranged such that the foot is configured to have portions to be contact with the ground at its four corners and the movable foot pieces have additional contact portion enlarging or reducing the ground contact portions.
摘要翻译： 具有身体的两足动物移动机器人的脚部结构和两个铰接腿，每个脚在其远端具有脚。 在脚结构中，每个脚中容纳有可动脚部，由致动器驱动以摆动以扩大接地面。 为执行器提供的控制器，并且基于诸如楼梯下降的行走状态，其控制致动器的操作，使得脚的接地面增大。 该结构还具有另外一个方面，其中从脚部连接到腿部到脚部的点之间的距离之间的比率也可以响应于行走状况来调节。 此外，脚可以布置成使得脚被配置为具有在其四个角处与地面接触的部分，并且可动脚部具有扩大或减小接地部分的附加接触部分。
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公开(公告)号：US5445235A
公开(公告)日：1995-08-29
申请号：US67314
申请日：1993-05-26
CPC分类号： B60R21/34 , B25J19/0075 , B25J19/06 , B62D57/02
摘要： An impact absorber for a legged mobile robot having a body and two legs each connected to the body for absorbing impact arising when the robot collides with pipes or other objects in its walking environment so as to protect both the robot and the object. In a first embodiment, the impact absorber comprises a balloon disposed around the body and filled with air. When the balloon comes into contact with the object, it is deflated so as to absorb impact arising from the contact. In a second embodiment, the impact absorber comprises a cylinder fixed to the robot leg and a piston slidably disposed in the cylinder so as to define a chamber filled with an oil. A flat member is fixed to the rod of the piston and when it comes into contact with the object, the piston is thrust into the cylinder so as to absorb the impact. The impact absorber may be a resilient material coating on the robot to cushion the impact when the robot comes into contact with the object, or it may include air bags.
摘要翻译： 一种用于腿式移动机器人的冲击吸收器，其具有主体和两个腿，每个腿连接到主体，用于吸收机器人在其行走环境中与管道或其他物体碰撞时产生的冲击，以保护机器人和物体。 在第一实施例中，冲击吸收器包括设置在身体周围并充满空气的球囊。 当气球与物体接触时，它被放气以吸收由接触引起的冲击。 在第二实施例中，冲击吸收器包括固定到机器人腿部的圆柱体和可滑动地设置在气缸中以便限定填充有油的腔室的活塞。 平面构件固定在活塞杆上，当与物体接触时，活塞被推入气缸中以吸收冲击。 冲击吸收器可以是机器人上的弹性材料涂层，以在机器人与物体接触时缓冲冲击，或者其可以包括气囊。
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公开(公告)号：US06332372B1
公开(公告)日：2001-12-25
申请号：US09581220
申请日：2000-06-22
申请人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
发明人： Toru Takenaka , Takayuki Kawai , Tadaaki Hasegawa , Takashi Matsumoto , Hiroshi Gomi , Hideaki Takahashi
IPC分类号： B25J906
CPC分类号： B25J9/06 , B25J17/025 , Y10T74/20329
摘要： An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (11), (13), (15) of a shoulder joint assembly (5) and the position of an elbow joint assembly (6) with respect to the third joint (15) are established such that the elbow joint assembly (6) is located above a horizontal plane lying through the point of intersection of the axes (10), (12), (14) of the first through third joints (11), (13), (15), while the shoulder joint assembly (5) is operated into a singularity state wherein the first axis (10) of the first joint (11) and the third axis (14) of the third joint (15) are aligned with each other and the elbow joint assembly (6) is positioned laterally of a torso (1).
摘要翻译： 用于拟人机器人的臂结构使人形机器人的臂正常工作时，使肩关节组件的奇点状态的发生最小化，从而允许手臂平稳地操作。 建立肩关节组件（5）的第一至第三关节（11），（13），（15）和肘关节组件（6）相对于第三关节（15）的位置和姿势 使得肘关节组件（6）位于通过第一至第三关节（11），（13），（13），（13）的轴线（10），（12），（14） 15），而肩关节组件（5）被操作成其中第一关节（11）的第一轴线（10）和第三关节（15）的第三轴线（14）彼此对准的奇点状态 并且肘关节组件（6）位于躯干（1）的侧面。
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公开(公告)号：US07228923B2
公开(公告)日：2007-06-12
申请号：US10499056
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B62D57/032
CPC分类号： B62D57/032 , B25J19/0091 , F16F9/0481
摘要： A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (a variable capacity element) is provided at a ground-contacting face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like member 19 is communicated with the atmosphere side through a flow passage 20. During a landing motion of the leg, the bag-like member 19 makes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passage 20, so that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like member 19 allows the bag-like member 19 to be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.
摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18，其中在脚部机构6的接地面侧设置有可膨胀的袋状构件19（可变容量元件）。袋 类构件19由橡胶等弹性材料构成，具有回复力。 袋状构件19的内部通过流路20与大气侧连通。在腿的着陆运动期间，袋状构件19与地面接触以被压缩，并且空气在 其内部部分通过流路20流入大气，从而产生其流出阻力。 因此，降低着陆冲击。 在腿的提升状态下，袋状构件19的恢复力允许袋状构件19在空气流入其内部部分时膨胀。 腿型移动式机器人腿部着陆时的冲击载荷可以在轻型构型中平滑地减少。
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公开(公告)号：US06967456B2
公开(公告)日：2005-11-22
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧的可膨胀且可压缩的袋状构件19（可变容量元件）。 袋状构件19由橡胶等弹性材料构成。 大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。 在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。 此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时， 压缩方向的板状构件19被控制为适合于步态机器人的高度。 因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。
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公开(公告)号：US06962220B2
公开(公告)日：2005-11-08
申请号：US10490802
申请日：2002-09-24
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto
CPC分类号： F16F9/06 , B25J19/0008 , B25J19/0091 , Y10T74/20305
摘要： An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.
摘要翻译： 一种辅助装置，其将辅助驱动力与作为腿部的一对连杆构件的腿部和腿部之间的关节致动器的驱动力平行的接头施加。 辅助装置通过使用诸如固体弹簧或空气弹簧的弹簧装置产生辅助驱动力。 支撑连接到弹簧装置的杆构件的构件设置有用于将腿部在关节处的弯曲和拉伸运动（大腿部分和小腿部分之间的相对位移运动）传递到弹簧装置的装置，以产生 弹簧装置的弹性力，以及用于中止弯曲和拉伸运动到弹簧装置的传递。 该发送装置根据机器人的步态进行控制。 因此，必要时能够减轻关节致动器的负担，能够稳定地确保能量利用效率。
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7.发明授权公开(公告)号：US07409265B2
公开(公告)日：2008-08-05
申请号：US10500117
申请日：2002-12-19
IPC分类号： G06F19/00
CPC分类号： B25J13/085 , B25J19/0091 , B62D57/02 , B62D57/032
摘要： It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.
摘要翻译： 布置成使得位移传感器（70）安装在弹性构件（382）附近的位置处，以产生指示脚（22）的地板接触端相对于第二接头（18）的位移的输出， 20），并且通过使用描述弹性构件中产生的位移和应力之间的关系的模型，基于位移传感器的输出来计算作用在脚上的地板反作用力，从而能够实现准确 计算地板反作用力和更稳定的步行式移动机器人（1）。 此外，通过组合不同类型的检测器来构成双重感觉系统，从而能够提高检测精度。 此外，由于能够自动诊断位移传感器等是否发生异常或劣化，而是不使用温度传感器进行温度补偿，因此能够进一步提高检测精度。
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公开(公告)号：US06401846B1
公开(公告)日：2002-06-11
申请号：US09630743
申请日：2000-08-02
IPC分类号： B62D5702
CPC分类号： B62D57/032 , B25J19/0091
摘要： In a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and having a knee joint and an ankle joint, connected by a shank link, a knee pad is mounted on the shank link as a landing/shock absorbing means at a position 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 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： 在具有主体和两个铰接腿的双足步行机器人中，每个腿部通过髋关节连接到身体，并且具有通过柄连杆连接的膝关节和踝关节，膝关节垫作为着陆/ 冲击吸收装置位于与膝关节相邻的位置处，当与地板进行膝盖 - 第一次接触时，其与地板接触，使得膝关节位于机器人重心的前方位置 在机器人前进的方向上，同时吸收与地板接触发生的冲击。 这样，机器人可以容易地从与膝盖接合区域与地板接触的姿态站起来。 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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9.发明申请公开(公告)号：US20050080511A1
公开(公告)日：2005-04-14
申请号：US10500117
申请日：2002-12-19
CPC分类号： B25J13/085 , B25J19/0091 , B62D57/02 , B62D57/032
摘要： It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.
摘要翻译： 布置成使得位移传感器（70）安装在弹性构件（382）附近的位置处，以产生指示脚（22）的地板接触端相对于第二接头（18）的位移的输出， 20），并且通过使用描述弹性构件中产生的位移和应力之间的关系的模型，基于位移传感器的输出来计算作用在脚上的地板反作用力，从而能够实现准确 计算地板反作用力和更稳定的步行式移动机器人（1）。 此外，通过组合不同类型的检测器来构成双重感觉系统，从而能够提高检测精度。 此外，由于能够自动诊断位移传感器等是否发生异常或劣化，而是不使用温度传感器进行温度补偿，因此能够进一步提高检测精度。
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公开(公告)号：US20050077856A1
公开(公告)日：2005-04-14
申请号：US10499117
申请日：2002-12-11
申请人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
发明人： Toru Takenaka , Hiroshi Gomi , Kazushi Hamaya , Yoshinari Takemura , Takashi Matsumoto , Takahide Yoshiike , Yoichi Nishimura , Kazushi Akimoto , Taro Yokoyama
IPC分类号： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
摘要： A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
摘要翻译： 设置在机器人腿部的脚部机构6中的着陆减震装置18包括在脚部机构6的底面侧上的可膨胀且可压缩的袋状构件19（可变容量元件）。袋状构件 19由橡胶等弹性材料构成。 大气中的空气可以通过设置有电磁阀27等的流入/流出装置20流入和流出袋状构件19。 在脚部机构6的着陆状态下，并且在脚部机构从着陆状态转移到提升状态之后的状态下，电磁阀27关闭，以将袋状部件19维持在压缩状态。 此外，在脚部机构6的提升状态期间处于充气状态的袋状部件19中，通过控制电磁阀27从开阀状态切换到关闭状态的定时， 压缩方向的板状构件19被控制为适合于步态机器人的高度。 因此，能够容易地确保机器人的姿势稳定性，同时减少有腿可动机器人的腿部的着陆运动中的冲击负荷，并且还可以实现轻量化的构造。
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