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Biped robot

A walking robot and connecting rod technology, applied in the direction of manipulators, claw arms, manufacturing tools, etc., can solve the problems of low operating efficiency, unoptimized relationship between the height of the object group and cannot be improved, and achieve the effect of improving operating efficiency

Inactive Publication Date: 2004-02-11
HONDA MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in the above-mentioned prior art, etc., the attention points on dimensions such as joint height and arm link length have not been considered at present when performing actual operations. In fact, when such a biped walking robot is allowed to perform operations, not only Simple proportional reduction, the relationship with the height of the operation object group is not optimized, the operation efficiency is low, and there are still problems that cannot improve the following attention points

Method used

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Embodiment Construction

[0035] Hereinafter, a biped walking robot according to an embodiment of the present invention will be described with reference to the drawings.

[0036] FIG. 1 is a front view of a biped walking robot (hereinafter referred to as "robot") 1 according to an embodiment of the present invention, figure 2 Is its side view.

[0037] As shown in Fig. 1, the robot 1 has two leg links 2, and an upper body (base body) 3 is provided above them. A head 4 is formed on the upper part of the upper body 3, and two arm links 5 are connected to both sides of the upper body 3. In addition, such as figure 2 As shown, a storage portion 6 is provided on the back of the upper body 3, and a control device (described later) and a battery power source (not shown) for a motor (drive source, described later) that drives the joints of the robot 1 are installed inside. In addition, Figure 1 and figure 2 The illustrated robot 1 represents a robot equipped with a cover to protect the internal structure.

[00...

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Abstract

The height from floor surface contact ends of leg linkages 2 to shoulder joints of a biped robot 1 when the biped robot is in an upright posture is defined to be a value falling within a range (Havg + / - 1 / 2 sigma ) set based on an averaged value Havg obtained by averaging the heights of a group of objects (subject to operation) from the floor surface and the standard deviation sigma thereof, specifically a value in a range of from approximately 700 mm to 1000 mm. By this, the installation height of shoulder joints from the floor surface can be optimally determined in accordance with the heights of the objects, thereby improving operating efficiency in an existing operating space.

Description

Technical field [0001] The present invention relates to a biped walking robot, in particular to a technology for determining the size of a biped walking robot, and more specifically, to optimally determining the height of shoulder joints from the ground according to the height of the work target group. This makes the biped walking robot more efficient in the existing work space. Background technique [0002] The applicant has always been the first in the world to research and develop a biped walking robot, and is committed to realizing that the biped walking robot can perform walking actions closer to humans. Moreover, the previously proposed biped walking robot can perform stable walking on flat ground and up and down slopes, standing on one foot, and lifting steps and vertical dislocations, etc., realizing a biped walking robot suitable for various existing walking environments. [0003] In addition, by connecting to the arm of the upper body, operations such as tightening scre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J18/00B25J19/02
CPCB25J19/023B25J18/00B25J5/00
Inventor 平井和雄森井健二广濑真人
Owner HONDA MOTOR CO LTD