DK3152013T3 - System til beskyttelse mod fastklemning i en robot af humanoid karakter - Google Patents
System til beskyttelse mod fastklemning i en robot af humanoid karakter Download PDFInfo
- Publication number
- DK3152013T3 DK3152013T3 DK15727953.0T DK15727953T DK3152013T3 DK 3152013 T3 DK3152013 T3 DK 3152013T3 DK 15727953 T DK15727953 T DK 15727953T DK 3152013 T3 DK3152013 T3 DK 3152013T3
- Authority
- DK
- Denmark
- Prior art keywords
- robot
- elements
- arm
- trunk
- skin
- Prior art date
Links
Classifications
-
- 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
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- 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
- B25J19/06—Safety devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Claims (4)
- SYSTEM TIL BESKYTTELSE MOD FASTKLEMNING I ΕΝ ROBOT AF HUMANOID KARAKTER1. Robot af humanoid karakter, der omfatter to elementer (2, 3) og ét led (11) med mindst en frihedsgrad, der forbinder de to elementer, hvilke to elementer hvert omfatter en hud (22, 23), der afgrænser deres ydre overflade, hvor leddet (11) muliggør en bevægelse inden for et givent interval, hvor et første af de to elementer (2, 3) er beregnet til i alt væsentligt at komme i kontakt med et område (26) af huden (22, 23) af et andet af de to elementer ved en ende af intervallet, hvor området (26) er smidigt, således at det kan deformeres over en given afstand med en kraft, der er mindre end en given kraft, kendetegnet ved, at det første element (3) er forbundet med det andet element (2) via det smidige område (26).
- 2. Robot ifølge krav 1, kendetegnet ved, at det smidige område (26) er udformet til at forblive i kontakt enten med leddet (11) eller med det første element (3).
- 3. Robot ifølge et af de foregående krav, kendetegnet ved, at den omfatter en stopanordning, der hører til ét af de to elementer (2, 3), og ved, at det andet af de to elementer (2, 3) kommer i kontakt med stopanordningen ved enden af intervallet.
- 4. Robot ifølge et af de foregående krav, kendetegnet ved, at huderne (22, 23) af de to elementer (2, 3) i overvejende grad er stiv, og ved, at mindst et smidigt område (26) er placeret i kontinuitet af et stift område (28, 31) af huden (22, 23).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1455028A FR3021573B1 (fr) | 2014-06-03 | 2014-06-03 | Systeme anti coincement dans un robot a caractere humanoide |
| PCT/EP2015/062459 WO2015185671A1 (fr) | 2014-06-03 | 2015-06-03 | Système anti coincement dans un robot à caractère humanoïde |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK3152013T3 true DK3152013T3 (da) | 2018-11-19 |
Family
ID=51830407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK15727953.0T DK3152013T3 (da) | 2014-06-03 | 2015-06-03 | System til beskyttelse mod fastklemning i en robot af humanoid karakter |
Country Status (15)
| Country | Link |
|---|---|
| US (1) | US10137579B2 (da) |
| EP (1) | EP3152013B1 (da) |
| JP (1) | JP6556167B2 (da) |
| KR (1) | KR20170021828A (da) |
| CN (1) | CN106573371B (da) |
| AU (1) | AU2015270477B2 (da) |
| CA (1) | CA2950652C (da) |
| DK (1) | DK3152013T3 (da) |
| ES (1) | ES2692415T3 (da) |
| FR (1) | FR3021573B1 (da) |
| MX (1) | MX2016015823A (da) |
| NZ (1) | NZ726252A (da) |
| RU (1) | RU2684026C2 (da) |
| SG (1) | SG11201609419RA (da) |
| WO (1) | WO2015185671A1 (da) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756449B (zh) * | 2017-11-10 | 2020-10-02 | 北京康力优蓝机器人科技有限公司 | 服务机器人机械关节处的防夹检测系统 |
| DE102018202459B3 (de) | 2018-02-19 | 2019-02-21 | Kuka Deutschland Gmbh | Roboterarm mit wenigstens einem Verformungselement |
| JP7388828B2 (ja) * | 2019-05-27 | 2023-11-29 | ファナック株式会社 | ロボット |
| CN111805554B (zh) * | 2020-07-08 | 2023-08-18 | 达闼机器人股份有限公司 | 机器人及其外壳 |
| USD1118726S1 (en) | 2023-04-17 | 2026-03-17 | Figure Ai Inc. | Humanoid robot |
| US12365094B2 (en) | 2023-04-17 | 2025-07-22 | Figure Ai Inc. | Head and neck assembly for a humanoid robot |
| US12539618B1 (en) | 2023-04-17 | 2026-02-03 | Figure Ai Inc. | Head and neck assembly of a humanoid robot |
| WO2025175321A1 (en) * | 2024-02-15 | 2025-08-21 | Figure Ai Inc. | Torso of a humanoid robot |
| US12605824B2 (en) | 2024-02-26 | 2026-04-21 | Figure Ai Inc. | Humanoid robot |
| US12578733B2 (en) | 2024-09-04 | 2026-03-17 | Figure Ai Inc. | Bipedal action model for humanoid robot |
| US12611767B2 (en) | 2024-09-06 | 2026-04-28 | Figure Ai Inc. | System and method for efficient control of a humanoid robot |
| US12611766B2 (en) | 2024-09-13 | 2026-04-28 | Figure Ai Inc. | Humanoid robot with advanced kinematics |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000158378A (ja) * | 1998-11-26 | 2000-06-13 | Seiko Epson Corp | ロボットおよびロボットの制御装置 |
| JP2000317876A (ja) * | 1999-05-10 | 2000-11-21 | Sony Corp | ロボット装置 |
| CN1236898C (zh) * | 2000-11-17 | 2006-01-18 | 本田技研工业株式会社 | 腿式步行机器人 |
| US20050102037A1 (en) | 2001-01-23 | 2005-05-12 | Hiroshi Matsuda | Multi-finger hand device |
| JP4155804B2 (ja) * | 2002-11-26 | 2008-09-24 | ソニー株式会社 | 脚式移動ロボットの制御装置 |
| US7761184B2 (en) * | 2003-03-23 | 2010-07-20 | Sony Corporation | Robot apparatus and control method thereof |
| JP4524435B2 (ja) * | 2005-05-11 | 2010-08-18 | 株式会社国際電気通信基礎技術研究所 | コミュニケーションロボット |
| JP5302647B2 (ja) * | 2008-12-09 | 2013-10-02 | 東海ゴム工業株式会社 | 連結部の被覆材 |
| US8511964B2 (en) * | 2009-09-22 | 2013-08-20 | GM Global Technology Operations LLC | Humanoid robot |
-
2014
- 2014-06-03 FR FR1455028A patent/FR3021573B1/fr not_active Expired - Fee Related
-
2015
- 2015-06-03 SG SG11201609419RA patent/SG11201609419RA/en unknown
- 2015-06-03 NZ NZ726252A patent/NZ726252A/en not_active IP Right Cessation
- 2015-06-03 CA CA2950652A patent/CA2950652C/en not_active Expired - Fee Related
- 2015-06-03 EP EP15727953.0A patent/EP3152013B1/fr active Active
- 2015-06-03 WO PCT/EP2015/062459 patent/WO2015185671A1/fr not_active Ceased
- 2015-06-03 ES ES15727953.0T patent/ES2692415T3/es active Active
- 2015-06-03 MX MX2016015823A patent/MX2016015823A/es unknown
- 2015-06-03 US US15/310,704 patent/US10137579B2/en active Active
- 2015-06-03 CN CN201580029765.0A patent/CN106573371B/zh active Active
- 2015-06-03 KR KR1020177000012A patent/KR20170021828A/ko not_active Ceased
- 2015-06-03 DK DK15727953.0T patent/DK3152013T3/da active
- 2015-06-03 RU RU2016151214A patent/RU2684026C2/ru not_active IP Right Cessation
- 2015-06-03 JP JP2016571144A patent/JP6556167B2/ja active Active
- 2015-06-03 AU AU2015270477A patent/AU2015270477B2/en not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| RU2684026C2 (ru) | 2019-04-03 |
| US10137579B2 (en) | 2018-11-27 |
| NZ726252A (en) | 2018-02-23 |
| JP2017516672A (ja) | 2017-06-22 |
| US20170080582A1 (en) | 2017-03-23 |
| KR20170021828A (ko) | 2017-02-28 |
| ES2692415T3 (es) | 2018-12-03 |
| CA2950652C (en) | 2020-04-21 |
| CA2950652A1 (en) | 2015-12-10 |
| WO2015185671A1 (fr) | 2015-12-10 |
| AU2015270477A1 (en) | 2016-12-01 |
| RU2016151214A (ru) | 2018-07-09 |
| MX2016015823A (es) | 2017-06-28 |
| CN106573371A (zh) | 2017-04-19 |
| JP6556167B2 (ja) | 2019-08-07 |
| EP3152013B1 (fr) | 2018-07-25 |
| EP3152013A1 (fr) | 2017-04-12 |
| SG11201609419RA (en) | 2016-12-29 |
| FR3021573B1 (fr) | 2019-04-19 |
| CN106573371B (zh) | 2019-04-23 |
| FR3021573A1 (fr) | 2015-12-04 |
| AU2015270477B2 (en) | 2017-09-14 |
| RU2016151214A3 (da) | 2018-07-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DK3152013T3 (da) | System til beskyttelse mod fastklemning i en robot af humanoid karakter | |
| KR101740881B1 (ko) | 움직임 개선과 중력보상을 위한 상지 외골격 로봇 | |
| WO2013186705A3 (en) | An exoskeleton structure for physical interaction with a human being | |
| WO2007113949A1 (ja) | 人形玩具 | |
| KR101487980B1 (ko) | 발목 조인트 장치 및 이를 포함하는 착용 로봇 | |
| WO2014068509A3 (en) | Hand exoskeleton | |
| CN101879101B (zh) | 腕关节驱动仿生机械假手 | |
| CN111670096A (zh) | 机器人关节的安全保护 | |
| JP6449337B2 (ja) | ヒューマノイド型ロボットの安全性 | |
| Park et al. | Low cost and light-weight multi-DOF exoskeleton for comprehensive upper limb rehabilitation | |
| O’Flaherty et al. | Kinematics and inverse kinematics for the humanoid robot HUBO2+ | |
| EP3162515B1 (en) | Exoskeleton | |
| Wang et al. | Guidance-control-based exoskeleton rehabilitation robot for upper limbs: Application to circle drawing for physiotherapy and training | |
| CN107756449B (zh) | 服务机器人机械关节处的防夹检测系统 | |
| Geonea et al. | Design Solutions for Human Legs Motion Assistance Exoskeletons | |
| CN107685787A (zh) | 一种机器人关节直线驱动系统 | |
| HK1063563A2 (en) | A toy in imitation of human body and with movements of its body |