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1. 发明公开

EP1433573A4 FLOOR REACTION DETECTOR OF LEGGED MOBILE ROBOT 有权
标题翻译：土壤还原反应检测器用于移动机器人RUN
公开(公告)号：EP1433573A4
公开(公告)日：2008-02-13
申请号：EP02760648
申请日：2002-08-15
申请人： HONDA MOTOR CO LTD
发明人： HIROSE MASATO , GOMI HIROSHI
IPC分类号： G01L5/16 , B25J5/00 , B25J13/08 , B25J19/00 , B25J19/02 , B62D57/032
CPC分类号： B62D57/032 , B25J13/085 , B25J19/0091
摘要： A floor reaction detector of a legged mobile robot having at least an upper body, a plurality of leg parts connected to the upper body through first articulations, and leg parts connected to the end parts of the leg parts through second articulates, disposed between the second articulates and the ground-contact ends of the leg parts, wherein the upper parts of the floor reaction detectors are connected to near the second articulates, a spring mechanism body lower in rigidity than a member forming a part near the second articulate is installed at the ground-contact ends of the leg parts, and the lower parts of the floor reaction detectors are connected to the ground-contact ends of the leg parts through the spring mechanism bodies, whereby a controllability is not deteriorated since a detection accuracy is increased, and the affection of impact at the time of ground-contact can be reduced while stably holding an attitude in standing state.

2. 发明公开

EP1820612A4 LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT 有权
标题翻译：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
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.

3. 发明公开

EP1475194A4 LEG-TYPE MOVING ROBOT AND FLOOR REACTION FORCE DETECTION DEVICE THEREFOR 有权
标题翻译： MOBILER ROBOTER MIT BEINEN UND BODENREAKTIONSKRAFTERFASSUNGSVORHTHTUNGDAFÜR
公开(公告)号：EP1475194A4
公开(公告)日：2008-02-13
申请号：EP02796972
申请日：2002-12-19
申请人： HONDA MOTOR CO LTD
发明人： TAKENAKA TORU , GOMI HIROSHI , SHIGEMI SATOSHI , MATSUMOTO TAKASHI
IPC分类号： A63H11/18 , B25J5/00 , B25J13/08 , B25J19/00 , B62D57/02 , B62D57/032
CPC分类号： B25J13/085 , B25J19/0091 , B62D57/02 , B62D57/032
摘要： A displacement sensor (70) for producing an output showing the displacement of the ground-contact end of a foot unit (22) with respect to a second joint (18, 20) is provided inside or in the vicinity of an elastic element (382), and a floor reaction force acting on a foot unit based on an output from the displacement sensor is calculated by using a model that describes the relation between displacement and stress produced at an elastic element according to the displacement of the sensor, whereby it is possible to calculate a floor reaction force accurately and let a leg-type moving robot (1) walk further more constantly. In addition, dissimilar detection means are combined to form a dual system of sensors for an improved reliability in detection. A reliability in detection is further improved by a displacement sensor or the like that self-diagnoses whether or not it is deteriorated or abnormal and by temperature compensation without the provision of a temperature sensor.
摘要翻译：在弹性元件（382）的内部或附近设置有用于产生示出脚部单元（22）的接地端相对于第二关节（18,20）的位移的输出的位移传感器（70）），并且根据位移传感器的输出基于位移传感器的输出作用于足部单元的地面反作用力通过使用描述根据传感器的位移在弹性元件处产生的位移和应力之间的关系的模型来计算，可以精确地计算出地面反作用力，并使腿式移动机器人（1）更加持续地行走。另外，不同的检测装置被组合以形成传感器的双重系统，以提高检测的可靠性。检测可靠性通过自我诊断其是否恶化或异常的位移传感器等以及通过温度补偿而不提供温度传感器来进一步改善。

4. 发明公开

EP1785235A4 LEGGED MOBILE ROBOT 有权
标题翻译： SCHREITROBOTER
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。

5. 发明公开

EP1442846A4 LEG JOINT ASSIST DEVICE FOR LEG TYPE MOVABLE ROBOT 有权
标题翻译： DEVICE腿部关节支撑与腿移动机器人
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.

6. 发明公开

EP1459854A4 DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权
标题翻译： DEVICE吸收电荷产生影响的地板腿移动机器人
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.

7. 发明公开

EP1702725A4 LEG TYPE MOVING ROBOT 有权
标题翻译：足行走机器人
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

8. 发明公开

EP1736285A4 LEGGED MOBILE ROBOT AND CONTROL DEVICE THEREFOR 有权
标题翻译：有脚控装置THEREFOR移动机器人
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.

9. 发明公开

EP1475191A4 DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权
标题翻译： 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
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。

10. 发明公开

EP1466704A4 DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT 有权
标题翻译：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
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： B25J5/00 , B25J19/00 , B62D57/032 , F16F9/04
CPC分类号： F16F9/0481 , B25J19/0091 , B62D57/032
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.

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