CN101678866A - 能量有效的机器人系统 - Google Patents
能量有效的机器人系统 Download PDFInfo
- Publication number
- CN101678866A CN101678866A CN200880015770A CN200880015770A CN101678866A CN 101678866 A CN101678866 A CN 101678866A CN 200880015770 A CN200880015770 A CN 200880015770A CN 200880015770 A CN200880015770 A CN 200880015770A CN 101678866 A CN101678866 A CN 101678866A
- Authority
- CN
- China
- Prior art keywords
- energy
- robot system
- motion
- load
- leg
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1892—Generators with parts oscillating or vibrating about an axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G5/00—Devices for producing mechanical power from muscle energy
- F03G5/06—Devices for producing mechanical power from muscle energy other than of endless-walk type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/08—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for recovering energy derived from swinging, rolling, pitching or like movements, e.g. from the vibrations of a machine
Abstract
Description
Claims (37)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/753,715 US7703562B2 (en) | 2007-05-25 | 2007-05-25 | Energy efficient robotic system |
US11/753,715 | 2007-05-25 | ||
PCT/US2008/061700 WO2008147615A1 (en) | 2007-05-25 | 2008-04-27 | Energy efficient robotic system |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101678866A true CN101678866A (zh) | 2010-03-24 |
CN101678866B CN101678866B (zh) | 2011-11-16 |
Family
ID=40071746
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2008800157706A Expired - Fee Related CN101678866B (zh) | 2007-05-25 | 2008-04-27 | 能量有效的机器人系统 |
Country Status (6)
Country | Link |
---|---|
US (2) | US7703562B2 (zh) |
EP (1) | EP2155538B1 (zh) |
JP (1) | JP5221648B2 (zh) |
KR (1) | KR101162691B1 (zh) |
CN (1) | CN101678866B (zh) |
WO (1) | WO2008147615A1 (zh) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103128748A (zh) * | 2011-12-02 | 2013-06-05 | 库卡罗伯特有限公司 | 操纵器组和运行操纵器组的方法 |
CN103904824A (zh) * | 2014-03-14 | 2014-07-02 | 上海大学 | 自主发电筒形机构 |
CN108789373A (zh) * | 2018-07-02 | 2018-11-13 | 西北工业大学 | 一种能实现人体能量迁移的无源上肢助力外骨骼装置 |
CN112987578A (zh) * | 2021-05-11 | 2021-06-18 | 中国人民解放军国防科技大学 | 一种基于超级电容的足式机器人单腿柔顺控制方法及系统 |
CN113858180A (zh) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | 一种用于下肢外骨骼的磁流变关节 |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2680681C (en) * | 2007-03-29 | 2016-02-16 | Lightning Packs Llc | Backpack based system for human electricity generation and use when off the electric grid |
US8030786B2 (en) * | 2008-08-22 | 2011-10-04 | Willowview Systems, Inc. | System for generating electrical energy from ambient energy |
US8350394B2 (en) * | 2009-09-30 | 2013-01-08 | Alcatel Lucent | Energy harvester apparatus having improved efficiency |
US20110169271A1 (en) * | 2010-01-11 | 2011-07-14 | Chia-Li Chen | Micro power generating device |
US8716877B2 (en) | 2010-05-14 | 2014-05-06 | Thomas Sugar | Method and apparatus for harvesting energy from ankle motion |
US8564144B1 (en) * | 2010-05-19 | 2013-10-22 | Lightning Packs, Llc | Light-weight human generated electricity |
JP5612764B2 (ja) * | 2010-07-21 | 2014-10-22 | サムスン ヘビー インダストリーズ カンパニー リミテッド | 波力発電装置 |
CN103303388B (zh) * | 2013-07-08 | 2016-01-20 | 北京理工大学 | 四足机器人全方位自适应弹性脚 |
KR101597758B1 (ko) * | 2014-05-19 | 2016-02-25 | 태하메카트로닉스 주식회사 | 웨이트 밸런스 기능을 갖춘 의료용 로봇 베이스 |
US10988191B2 (en) | 2014-08-20 | 2021-04-27 | Hydraulic Systems, Llc | Load transporting apparatus and methods of using same |
CN105495843A (zh) * | 2014-09-22 | 2016-04-20 | 富泰华工业(深圳)有限公司 | 保暖鞋 |
JP6228097B2 (ja) * | 2014-10-06 | 2017-11-08 | 本田技研工業株式会社 | 移動ロボット |
DE102016200394B4 (de) * | 2016-01-14 | 2019-06-19 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Verfahren zur Steuerung eines Schwingungssystems und Aktuator |
CN107315346B (zh) * | 2017-06-23 | 2020-01-14 | 武汉工程大学 | 一种基于cpg模型的仿人机器人步态规划方法 |
DE102018103892B4 (de) * | 2018-02-21 | 2021-02-04 | BenuBot-Projektkooperation GbR (vertretungsberechtigter Gesellschafter Dr. Andreas Karguth, 99869 Tüttleben) | Mobiler Roboter und Beinanordnung hierfür sowie Verfahren zum Ausführen einer Laufbewegung |
US10815961B2 (en) * | 2018-10-01 | 2020-10-27 | Abu Dhabi Polytechnic | Ocean wave power generator with artificially intelligent controller |
CN110843953A (zh) * | 2019-12-06 | 2020-02-28 | 北京理工大学 | 一种具有缓冲与助推功能的并联式机器人腿 |
RU2742446C1 (ru) * | 2020-07-06 | 2021-02-05 | Виктор Леонидович Жавнер | Мехатронный пружинный привод |
CN113060222B (zh) * | 2021-03-26 | 2022-04-08 | 北京交通大学 | 一种变拓扑双环路闭链腿机构多足平台 |
Family Cites Families (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3559027A (en) | 1967-09-27 | 1971-01-26 | Harold B Arsem | Electric shock absorber |
US4032829A (en) * | 1975-08-22 | 1977-06-28 | Schenavar Harold E | Road shock energy converter for charging vehicle batteries |
US4500827A (en) | 1984-06-11 | 1985-02-19 | Merritt Thomas D | Linear reciprocating electrical generator |
JP2819353B2 (ja) | 1990-09-28 | 1998-10-30 | 本田技研工業株式会社 | 脚式移動ロボットの歩行制御装置 |
US5347186A (en) | 1992-05-26 | 1994-09-13 | Mcq Associates, Inc. | Linear motion electric power generator |
US5347166A (en) * | 1993-02-01 | 1994-09-13 | Electric Power Research Institute | Apparatus and method for switching high power levels |
JPH06272660A (ja) | 1993-03-16 | 1994-09-27 | Sony Corp | 動力回生装置 |
US5578877A (en) | 1994-06-13 | 1996-11-26 | General Electric Company | Apparatus for converting vibratory motion to electrical energy |
US5696413A (en) * | 1994-10-24 | 1997-12-09 | Aqua Magnetics, Inc. | Reciprocating electric generator |
US5590734A (en) | 1994-12-22 | 1997-01-07 | Caires; Richard | Vehicle and method of driving the same |
US5808433A (en) | 1995-09-29 | 1998-09-15 | Honda Giken Kogyo Kabushiki Kaisha | Method of generating gait of legged walking robot and system for controlling its locomotion |
JP3655056B2 (ja) | 1997-08-04 | 2005-06-02 | 本田技研工業株式会社 | 脚式移動ロボットの制御装置 |
US6020653A (en) * | 1997-11-18 | 2000-02-01 | Aqua Magnetics, Inc. | Submerged reciprocating electric generator |
CA2271498C (en) | 1998-05-11 | 2007-01-09 | Honda Giken Kogyo Kabushiki Kaisha | Legged mobile robot |
US6768246B2 (en) * | 2000-02-23 | 2004-07-27 | Sri International | Biologically powered electroactive polymer generators |
CN2464400Y (zh) * | 2001-02-27 | 2001-12-12 | 郑椽林 | 一种拼装式两足步行机器人玩具 |
JP3674778B2 (ja) | 2001-09-27 | 2005-07-20 | 本田技研工業株式会社 | 脚式移動ロボットの脚体関節アシスト装置 |
US7540342B1 (en) * | 2002-03-21 | 2009-06-02 | Robert John Ein | Virtual walker apparatus |
US20040130227A1 (en) | 2003-01-02 | 2004-07-08 | Ricker Charles F. | Centrifugal force cyclic energy generator |
JP2004007959A (ja) | 2003-03-12 | 2004-01-08 | Seiko Epson Corp | 電子制御機器 |
EP1610646B1 (en) * | 2003-03-17 | 2013-01-02 | Lightning Packs LLC | A backpack for harvesting electrical energy during walking and for minimizing shoulder strain |
SE0300869L (sv) * | 2003-03-27 | 2004-03-23 | Swedish Seabased Energy Ab | Vågkraftaggregat |
JP4587738B2 (ja) | 2003-08-25 | 2010-11-24 | ソニー株式会社 | ロボット装置及びロボットの姿勢制御方法 |
JP4168943B2 (ja) * | 2004-01-28 | 2008-10-22 | トヨタ自動車株式会社 | 脚式ロボットと脚式ロボットの歩行制御方法 |
US7168513B2 (en) | 2004-02-27 | 2007-01-30 | The Regents Of The University Of California | Dynamic legged robot |
US7352073B2 (en) * | 2004-06-28 | 2008-04-01 | Ames P Foerd | Ocean wave energy converter having an improved generator and ballast control |
JP4707372B2 (ja) | 2004-11-25 | 2011-06-22 | 独立行政法人理化学研究所 | 二足歩行ロボットとその歩行制御方法 |
US7835822B2 (en) | 2005-03-30 | 2010-11-16 | Honda Motor Co., Ltd. | Systems and methods for controlling a legged robot using a two-phase disturbance response strategy |
JP2007054086A (ja) | 2005-08-22 | 2007-03-08 | Kochi Univ Of Technology | 動作補助用装具 |
JP2007061953A (ja) * | 2005-08-31 | 2007-03-15 | Institute Of Physical & Chemical Research | 支持脚伸縮による二足歩行ロボットとその歩行制御方法 |
WO2007061610A1 (en) * | 2005-11-18 | 2007-05-31 | Par Technologies, Llc | Human powered piezoelectric power generating device |
US7190141B1 (en) | 2006-01-27 | 2007-03-13 | Villanova University | Exoskeletal device for rehabilitation |
US7420287B2 (en) * | 2006-03-28 | 2008-09-02 | Aleksandr Smushkovich | Intermittent force powered electromagnetic converters especially for sea waves |
US7245041B1 (en) * | 2006-05-05 | 2007-07-17 | Olson Chris F | Ocean wave energy converter |
-
2007
- 2007-05-25 US US11/753,715 patent/US7703562B2/en not_active Expired - Fee Related
-
2008
- 2008-04-27 CN CN2008800157706A patent/CN101678866B/zh not_active Expired - Fee Related
- 2008-04-27 KR KR1020097026894A patent/KR101162691B1/ko not_active IP Right Cessation
- 2008-04-27 JP JP2010509421A patent/JP5221648B2/ja not_active Expired - Fee Related
- 2008-04-27 WO PCT/US2008/061700 patent/WO2008147615A1/en active Application Filing
- 2008-04-27 EP EP08746983.9A patent/EP2155538B1/en not_active Not-in-force
-
2010
- 2010-03-18 US US12/726,442 patent/US8069938B2/en not_active Expired - Fee Related
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103128748A (zh) * | 2011-12-02 | 2013-06-05 | 库卡罗伯特有限公司 | 操纵器组和运行操纵器组的方法 |
US9321174B2 (en) | 2011-12-02 | 2016-04-26 | Kuka Roboter Gmbh | Manipulator arrangement and method for operating the manipulator arrangement |
CN103904824A (zh) * | 2014-03-14 | 2014-07-02 | 上海大学 | 自主发电筒形机构 |
CN103904824B (zh) * | 2014-03-14 | 2016-06-29 | 上海大学 | 自主发电筒形机构 |
CN108789373A (zh) * | 2018-07-02 | 2018-11-13 | 西北工业大学 | 一种能实现人体能量迁移的无源上肢助力外骨骼装置 |
CN112987578A (zh) * | 2021-05-11 | 2021-06-18 | 中国人民解放军国防科技大学 | 一种基于超级电容的足式机器人单腿柔顺控制方法及系统 |
CN113858180A (zh) * | 2021-11-05 | 2021-12-31 | 中国科学技术大学 | 一种用于下肢外骨骼的磁流变关节 |
CN113858180B (zh) * | 2021-11-05 | 2023-03-10 | 中国科学技术大学 | 一种用于下肢外骨骼的磁流变关节 |
Also Published As
Publication number | Publication date |
---|---|
EP2155538A1 (en) | 2010-02-24 |
KR20100022487A (ko) | 2010-03-02 |
US20080290743A1 (en) | 2008-11-27 |
US20100170729A1 (en) | 2010-07-08 |
US8069938B2 (en) | 2011-12-06 |
EP2155538B1 (en) | 2015-09-02 |
JP5221648B2 (ja) | 2013-06-26 |
EP2155538A4 (en) | 2015-01-21 |
CN101678866B (zh) | 2011-11-16 |
US7703562B2 (en) | 2010-04-27 |
KR101162691B1 (ko) | 2012-07-05 |
WO2008147615A8 (en) | 2010-01-28 |
JP2010527803A (ja) | 2010-08-19 |
WO2008147615A1 (en) | 2008-12-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101678866B (zh) | 能量有效的机器人系统 | |
Zhou et al. | A survey of bio-inspired compliant legged robot designs | |
CN101428657B (zh) | 欠驱动双足步行机器人行走机构 | |
Wisse et al. | How to keep from falling forward: Elementary swing leg action for passive dynamic walkers | |
Kuo | Choosing your steps carefully | |
CN106828654B (zh) | 一种四足仿生机器人 | |
Anderson et al. | Powered bipeds based on passive dynamic principles | |
CN110239644A (zh) | 一种基于柔性脊柱技术的仿生四足机器人 | |
CN102481194A (zh) | 具有主缩肌-拮抗肌激励的动力人造膝 | |
CN101391417A (zh) | 一种基于被动运动方式的双足类人机器人 | |
JP5330733B2 (ja) | 歩行ロボット | |
TW201345677A (zh) | 足式機器人 | |
Borisov et al. | Study on elastic elements allocation for energy-efficient robotic cheetah leg | |
JP5612763B2 (ja) | 多足歩行装置 | |
Matsushita et al. | Locomoting with less computation but more morphology | |
CN100497073C (zh) | 一种主被动运动结合的弹性机械腿 | |
WO2018051365A1 (en) | A robotic foot having a toe actuation mechanism for a humanoid robot and method for constructing thereof | |
Luo et al. | Planning and control of COP-switch-based planar biped walking | |
JP4587699B2 (ja) | ロボット装置及びその制御方法 | |
Santos et al. | Development of a hybrid humanoid platform and incorporation of the passive actuators | |
CN114670948A (zh) | 一种基于猫科内膝式腿部结构的仿生机器人 | |
JP2005066810A (ja) | ロボットのための関節装置 | |
Marco et al. | A new leg design with parallel mechanism architecture | |
Takuma et al. | Design of vertebrae-inspired trunk mechanism for controlling walking behavior of semi-passive walker | |
Hiasa et al. | Development of a bipedal robot with bi-articular muscle-tendon complex between hip and knee joint |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: TOYOTA MOTOR CO., LTD. Free format text: FORMER OWNER: TOYOTA ENG + MFG NORTH AMERICA Effective date: 20130426 |
|
C41 | Transfer of patent application or patent right or utility model | ||
TR01 | Transfer of patent right |
Effective date of registration: 20130426 Address after: Aichi Prefecture, Japan Patentee after: Toyota Motor Corp. Address before: American Kentucky Patentee before: TOYOTA MOTOR ENGINEERING & MANUFACTURING NORTH AMERICA, Inc. |
|
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111116 Termination date: 20170427 |
|
CF01 | Termination of patent right due to non-payment of annual fee |