| Title |
Pub. Date |
Int. Class |
App. Num |
Applicant |
| 1. |
(WO 2006/103775) QUADRUPED WALKING ROBOT |
05.10.2006 |
B25J 5/00 |
PCT/JP2005/006147 |
TMSUK CO., LTD. |
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A quadruped walking robot (1), comprising a body part (2) having a horizontal swing part (4), a horizontal swing drive part (5), an upper side upper leg part (9) pivotally supported on the horizontal swing part (4), a lower side upper leg part (11) disposed parallel with the lower part of the upper side upper leg part (9), an upper leg rotatingly driving part (10) rotatingly driving the upper side upper leg part (9), a lower leg part (13) having an upper end part to which the tip part of the upper side upper leg part (9) and the tip part of the lower side upper leg part (11) are pivotally connected on the upper and lower sides, a ground-contact part (17) disposed at the lower end part of the lower leg part (13), and an elastic extensible pa... |
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| 2. |
(WO 2006/033209) LEG JOINT ASSIST DEVICE OF LEGGED MOBILE ROBOT |
30.03.2006 |
B25J 19/00 |
PCT/JP2005/015010 |
HONDA MOTOR CO., LTD. |
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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 ex... |
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| 3. |
(WO 2005/118230) QUADRUPED ROBOT FOR TECHNOLOGICAL PROCESSES |
15.12.2005 |
B25J 9/12 |
PCT/ES2005/070075 |
CONSEJO SUPERIOR DE INVESTIGACIONES CIENTÍFICAS |
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The invention relates to a quadruped robot which is intended for technological processes and which contains two elastic elements (6, 7). According to the invention, one end of the first elastic element (6) is connected to foot 1, while the other end thereof is connected to foot 2, and one end of the second elastic element (7) is connected to foot 4, while the other end of same is connected to foot 3. The elastic elements (6, 7) are provided with identical stiffnesses and lengths, the length being selected such that each of the elastic elements (6, 7) is in equilibrium without deformation when one of the legs to which the corresponding element is connected is in an end position and the other leg is in the central position (26) between the tw... |
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| 4. |
(WO 2005/025814) LOWER BODY MODULE FOR TWO-LEGGED WALKING ROBOT |
24.03.2005 |
B25J 17/02 |
PCT/JP2003/011696 |
TMSUK CO., LTD. |
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A lower body module for a two-legged walking robot of which leg section is capable of bearing a large load because the leg portion is constructed by a parallel link mechanism, and which is capable of carrying a heavy load and excellent in practicability. A heavy upper body can be mounted or assembled in the lower body module, and the module has high degree of freedom in design. A lower body module (1) for a two-legged walking robot comprises a base section (2); a right foot section (3) and a left foot section (4); passive joints (6, 7, 8) arranged in each of the base section (2), the right foot section (3), and the left foot section (4); and parallel link mechanisms (1a, 1b) respectively arranged between the passive joint (6) provided in th... |
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| 5. |
(WO 2004/024400) IMPACT ABSORBING MECHANISM OF WALKING ROBOT |
25.03.2004 |
B25J 19/00 |
PCT/JP2003/011586 |
KAWADA INDUSTRIES, INC. |
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An impact absorbing mechanism installed at the foot part (5) of a bipedal robot, comprising an upper base plate (5a) joined to the foot part articulation (4) of a movable leg (2) and a lower base plate (5b) opposed to the upper base plate (5a), wherein three elastic members (6) with different anisotropies on elasticity are disposed between the upper base plate (5a) and the lower base plate (5b) around a yaw axis (YA) at equal intervals so that the elastic displacement of the lower base plate (5b) relative to the upper base plate (5a) is permitted in a yaw axis (YA) direction and suppressed in a direction orthogonal to the yaw axis (YA) direction. |
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| 6. |
(WO 2003/039819) LEG JOINT ASSIST DEVICE FOR LEG TYPE MOVABLE ROBOT |
15.05.2003 |
B25J 19/00 |
PCT/JP2002/010418 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
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An assist device (14) has a spring means (15) that produces an auxiliary driving force, by elastic energy, acting on the joint (8) of a leg (3). The spring means (15) is a gas spring having a cylinder (17) and a piston (18), and the bending and stretching motion between link members (4, 5) in the joint (8) is transmitted through a motion transmitting means (16) having a link arm (22) and the like. The spring means (15) is designed so that the auxiliary driving force increases with increasing knee bend angle θ until the knee bend angle θ reaches a predetermined angle and so that after the predetermined angle has been exceeded, the auxiliary driving force becomes lower than the driving force corresponding to the predetermined an... |
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| 7. |
(WO 2003/028960) LEG JOINT ASSIST DEVICE FOR LEG TYPE MOVABLE ROBOT |
10.04.2003 |
B25J 19/00 |
PCT/JP2002/009757 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
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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 ... |
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| 8. |
(WO 2002/085580) MODULAR AND RECONFIGURABLE PARALLEL KINEMATIC ROBOT |
31.10.2002 |
B23Q 1/54 |
PCT/EP2002/004251 |
CONSIGLIO NAZIONALE DELLE RICERCHE |
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The present invention describes a parallel kinematic robot comprising at least two fixed-length legs (6, 7, 60, 600, 800) positioned according to an isosceles triangle with one extremity converging in a common vertex coupled to a tool (9) by means of at least one first rotative joint (8, 81, 82) and the other extremity of each leg coupled by means of a second rotative joint (4, 5, 40, 50) to a respective trolley (2, 3) which can be translated along a first linear guide (1) lying in the plane of said isosceles triangle under the control of movement means. |
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| 9. |
(WO 2002/066211) OPERATIONAL CONTROL METHOD, PROGRAM, AND RECORDING MEDIA FOR ROBOT DEVICE, AND ROBOT DEVICE |
29.08.2002 |
G06N 3/00 |
PCT/JP2002/001573 |
SONY CORPORATION |
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A robot device (1), comprising a learning part (103) for learning the time series signals obtained according to the external operation of an operation part (106) for starting the movements of leg part units (3A, 3B, 3C, 3D) and a head part unit (4), an operational control part (102) for controlling the operation part (106) so as to execute a taught operation based on the signals obtained from the operation part (106) by an external force and the signals learned before by the learning part (103), a drive part (105), and a predicting part (104) for predicting whether or not the operation is the operation taught by the initial signals obtained from the operation part (106) by the external force, whereby the operations taught by a user can be l... |
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| 10. |
(WO 2002/065825) ROBOT DEVICE AND METHOD OF CONTROLLING ROBOT DEVICE OPERATION |
29.08.2002 |
B25J 9/16 |
PCT/IB2002/000544 |
SONY CORPORATION |
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A robot device comprising parts of the body such as the head (4) and legs (3A-3D), an actuator (25) for driving parts of the body, and the CPU (10) for outputting control signals to the actuator (25). The device calculates external force-related information such as the position, magnitude, and direction of an external force applied to the robot device based on changes in control signals that are output from the CPU (10) to drive the actuator (25) and in signals that are input to the CPU (10) as responses when the actuator (25) is driven. This external force information is used as information for selecting, in collaboration with the behavior and emotion of the robot device, the next behavior of the robot device. Since the robot device calcul... |
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| 11. |
(WO 2002/040229) BIPED ROBOT |
23.05.2002 |
B25J 9/08 |
PCT/JP2001/009953 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
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A biped robot capable of facilitating a kinetic analysis and realizing the more satisfactory control of all kinetic systems by the initialization of a complex coordinate system, wherein a base body (6) is connected to a leg part (5) through a first joint part (7), a first link (3), a second joint part (8), a second link (4), and a third joint part (9), the rigidity of the first link (3) is lower than that of the base body (6) and the rigidity of the second link (4) is lower than that of the second link (4) to allow the highly accurate positioning of the second link (4) and the leg part (5) relative to a mechanical origin set on the base body, and a handle (13) is connected to the base body (6) at two points, whereby, when the attitude of th... |
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| 12. |
(WO 2002/030631) BIPEDAL ROBOT WITH STORAGE BATTERY |
18.04.2002 |
B25J 19/00 |
PCT/JP2001/008883 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
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A bipedal robot (1) of the present invention has a trunk (2) consisting of an upper trunk (6) and a lower trunk (7) which are rotatable around a rotation axis (12) relative to one another. The upper trunk has shoulders (13) on the right and left sides. An arm (4) is provided at each shoulder. A pair of right and left legs (3) is attached to lower ends of the lower trunk. A storage battery (30) is mounted to the back of the upper trunk, positioned within a shoulder width (W). The storage battery is positioned below the top of a head (5) mounted on the upper trunk. When the robot walks a narrow passage or corridor having a width slightly larger than the width thereof, for example, this arrangement prevents the storage battery from interfering... |
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| 13. |
(WO 2001/081791) ACTUATOR DESIGNED FOR ARTICULATED STRUCTURES, SUCH AS WALKING ROBOT LIMBS |
01.11.2001 |
B25J 9/12 |
PCT/FR2001/001211 |
CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE |
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The invention concerns an actuator which consists of a combination of a pin-and-nut system (3, 4) and rod-and-crank system (16, 19) completed by fittings for correcting defects in the mounting or parts and prevent the occurrence of internal stresses: a rail (11) whereon slides a carriage (7) associated with the pin is laterally mobile, and the carriage is mobile on the pin in the other transverse direction; and the hinge pin (17) of the rods (16) connected to the crank (19) can rotate about a pivot pin (21). Said light actuator is particularly suited for the legs of a two-legged robot. |
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| 14. |
(WO 1999/044843) CASTER FOR ROBOT |
10.09.1999 |
B25J 5/00 |
PCT/JP1999/001085 |
TAKIZAWA, Shigeo |
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A controllable caster with a sled for running over an obstacle, comprising a wheel (2), a rocking shaft (3e) provided with the wheel (2) thereon, stably supporting legs (4, 12), slidably stabilizing plates (1, 10), friction varying materials (1s) provided on the slidably stabilizing plates (1, 10), a driving device (2w) which rocks the rocking shaft (3e) and changes the angle of the slidably stabilizing plates (1, 10), a rocking shaft inclination angle detection device (2b), a slidably stabilizing plate angle detection device (1f), and a detection device (1Q) for detecting a change in a weight to be applied. |
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| 15. |
(WO 1997/002452) MOVABLE ROBOT FOR INTERNAL INSPECTION OF PIPES |
23.01.1997 |
B08B 9/04 |
PCT/DK1996/000298 |
FORCE-INSTITUTTET HANSEN, Peder, Bent VESTH, Lars KJUL, Peter |
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A movable robot for axial movement through a pipe line comprising two or more intermovable units, each of said movable unit provided with three projecting legs (4, 5) having contact surfaces (4a, 5a). The contact surfaces (4a, 5a) may abut the inner surface of the pipe such that said movable unit is fixed relative to the pipe. One of the movable units can be fixed relative to the pipe, while the other can be rotatable and displaceable relative thereto. As a result, the movable robot may easily pass obstacles during its movement through the pipe. |
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| 16. |
(WO 1996/022859) SPACE TRUSS INTEGRATED-CONSTRUCTION ROBOT |
01.08.1996 |
B25J 9/08 |
PCT/AU1996/000026 |
CUBERO, Samuel, Nacion, Jr. |
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A space truss integrated-construction mechanical structure for a novel robot is disclosed. The space truss structure is entirely made of tetrahedral building blocks or structures that form rigid space frames and rotary dynamic links which can each be moved by a linear actuator or drive such as a pneumatic or hydraulic double acting cylinder (see Figs. 1 to 4). All fixed length connection members (5, 14, 24, 25, 31, 32, 33) or linear actuators (1, 6, 15, 19) on the space truss stucture are connected at their ends to tetrahedral vertex nodes which are made up of a combination of solid, rotary or spherical joints. This is an important feature of space frames which is exploited to achieve very high stiffness-to-weight ratios for the mechanical ... |
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| 17. |
(WO 1994/006602) A ROBOT |
31.03.1994 |
B23Q 5/50 |
PCT/AU1993/000481 |
COMMONWEALTH SCIENTIFIC AND INDUSTRIAL RESEARCH ORGANISATION GUO, Lin ROGERS, Kevin, John KIRKHAM, Robin, John ROGOZINSKI, Maciej, Wlodzimierz |
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A robot comprising a body (4), and two legs (6, 8) without active joints, said legs being mounted to said body such that the legs can be independently translated and rotated with respect to said body. |
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| 18. |
(WO 1989/012726) MULTI-PURPOSE ROBOT BUILDING |
28.12.1989 |
E04H 1/00 |
PCT/FR1988/000302 |
PONTHIEU, Jean-Pierre |
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Multi-purpose robot building of indeterminate size and shape, representing a giant robot, the arms of which are articulated and rise from the horizontal to the vertical. The head and thorax are rotatory. On one or several faces, the arms (4), ears, hands, hips, feet and base are luminous signs and can be audio-visual parts. The head and thorax are fitted with giant screens (1, 2) for back projection. The head is animated by video programmes representing a stylized robot face with a synthetic image. The head is synchronized with the screen of the thorax to show the visuel parts of the text. The hips, legs, feet and base are provided with luminous newscasts. The ground floor is a sales and exhibition area. The basement (5) is a transformable ... |
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| 19. |
(WO 1989/001381) WEAVING WELDING WITH WELDING ROBOT |
23.02.1989 |
B23K 9/127 |
PCT/JP1988/000819 |
FANUC LTD TOYODA, Kenichi TORII, Nobutoshi MORIKAWA, Shigehiro |
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This invention provides a weaving welding method using a welding robot which can weld suitably works having various thicknesses and various kinds of leg lengths using the same weaving pattern. A welding torch is woven in a transverse direction of a groove center line with the groove center (WC) acting as the center of rocking while the welding torch (1) is being moved in its axial direction so that the tip of a wire (3) having a substantially constant projecting length moves in parallel with the wall surface of a work (W). The direction of welding is corrected in accordance with the difference between welding currents (IL, IR) detected when the welding torch is in the left end position (TL) or the right end position (TR) in the direction of... |
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