ES2067669T3 - Dispositivos de robot. - Google Patents

Dispositivos de robot.

Info

Publication number
ES2067669T3
ES2067669T3 ES90302979T ES90302979T ES2067669T3 ES 2067669 T3 ES2067669 T3 ES 2067669T3 ES 90302979 T ES90302979 T ES 90302979T ES 90302979 T ES90302979 T ES 90302979T ES 2067669 T3 ES2067669 T3 ES 2067669T3
Authority
ES
Spain
Prior art keywords
leg
chassis
articulated
differential pressure
control means
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.)
Expired - Lifetime
Application number
ES90302979T
Other languages
English (en)
Inventor
Arthur Alexander Collie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PORTSMOUTH ENTERPRISE, University of
Portsmouth Technology Consultants Ltd
Original Assignee
PORTSMOUTH ENTERPRISE, University of
Portsmouth Technology Consultants Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by PORTSMOUTH ENTERPRISE, University of, Portsmouth Technology Consultants Ltd filed Critical PORTSMOUTH ENTERPRISE, University of
Application granted granted Critical
Publication of ES2067669T3 publication Critical patent/ES2067669T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S180/00—Motor vehicles
    • Y10S180/901—Devices for traversing vertical surfaces

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

UN APARATO ROBOT, PREFERIBLEMENTE EN FORMA DE UN ROBOT QUE ANDE (1), CONSTA DE UN CHASIS (3) Y UNA SERIE DE PATAS ARTICULADAS (7), CADA PATA (7) CONSTA DE UNA PATA SUPERIOR (10) MONTADA DE FORMA GIRATORIA Y ARTICULADA SOBRE EL CHASIS (3) Y QUE NORMALMENTE SE PROLONGA HACIA ARRIBA DESDE EL, DE UNA PATA INFERIOR (11) ACOPLADA DE FORMA ARTICULADA A LA PATA SUPERIOR (10) Y UN PIE DE AGARRE (9) MONTADO SOBRE LA PATA INFERIOR (11), ESTANDO NORMALMENTE ESTE PIE DE AGARRE (9) POR DEBAJO DEL CHASIS (3), Y EL CONTROL DE LA PATA ARTICULADA (7) SE DERIVA DE TRES NEUMATICOS DE DOBLE EFECTO QUE ACCIONAN LOS CILINDROS (17, 18 Y 19), CONECTADO CADA UNO ENTRE EL CHASIS (3) Y LA PATA (7), PROVISTOS DE SENSORES DE POSICION (24, 25 Y 26) PARA DETERMINAR LA POSICION DE LA PATA Y PROVISTOS DE SENSORES DE PRESION DIFERENCIAL (42) (FIG 3B) PARA SENTIR LA FUERZA APLICADA A LA PATA, PROVISTOS DE MEDIOS DE CONTROL DE PROCESADOR (30) (FIG 3A) PARA CADA PATA (7) PARA REALIZAR EL MOVIMIENTO DE LA PATA (7) DEPENDIENDO DE LAS SALIDAS DE LOS SENSORES DE POSICION (24, 25 Y 26) DE LOS SENSORES DE PRESION DIFERENCIAL (42). PREFERIBLEMENTE, LOS MEDIOS DE CONTROL DE PROCESO (30) DE CADA PATA SE CONTROLARAN MEDIANTE UN ORDENADOR PERSONAL SITUADO A DISTANCIA (32) (FIG 3A) QUE CONTROLA EL MOVIMIENTO DE AVANCE DEL ROBOT QUE ANDA (1) (FIGS 1A Y 2A).
ES90302979T 1989-03-21 1990-03-20 Dispositivos de robot. Expired - Lifetime ES2067669T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB898906541A GB8906541D0 (en) 1989-03-21 1989-03-21 Robot devices

Publications (1)

Publication Number Publication Date
ES2067669T3 true ES2067669T3 (es) 1995-04-01

Family

ID=10653776

Family Applications (1)

Application Number Title Priority Date Filing Date
ES90302979T Expired - Lifetime ES2067669T3 (es) 1989-03-21 1990-03-20 Dispositivos de robot.

Country Status (6)

Country Link
US (1) US5121805A (es)
EP (1) EP0389243B1 (es)
JP (1) JPH0366575A (es)
DE (1) DE69014367T2 (es)
ES (1) ES2067669T3 (es)
GB (2) GB8906541D0 (es)

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GB8924500D0 (en) * 1989-10-31 1989-12-20 Portsmouth Tech Consult Scanning devices
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JPH07100309B2 (ja) * 1993-09-30 1995-11-01 工業技術院長 歩行ロボットのための腕に転用可能な脚機構
SE507352C2 (sv) * 1994-04-29 1998-05-18 Aelvsjoe Data Ab Av ledade ben uppburet och framdrivet fordon
US5551525A (en) * 1994-08-19 1996-09-03 Vanderbilt University Climber robot
JP3277076B2 (ja) * 1994-09-09 2002-04-22 株式会社小松製作所 歩行ロボットの歩行制御装置および歩行制御方法
JP2560264B2 (ja) * 1994-12-02 1996-12-04 工業技術院長 多足歩行装置
US5685383A (en) * 1995-07-14 1997-11-11 Lockheed Idaho Technologies Company Modular robot
US5758734A (en) * 1996-01-19 1998-06-02 Korea Institute Of Science And Technology Foot system for jointed leg type walking robot
JP2002516963A (ja) * 1998-05-28 2002-06-11 プルステック オイ 供給圧力を調整する方法
AU141397S (en) 1999-11-01 2000-08-11 Shipping container handling cradle
IL138695A (en) * 2000-09-26 2004-08-31 Rafael Armament Dev Authority Unmanned mobile device
US6964309B2 (en) * 2001-06-04 2005-11-15 Biorobots, Llc Vehicle with compliant drive train
US7249640B2 (en) * 2001-06-04 2007-07-31 Horchler Andrew D Highly mobile robots that run and jump
RU2216441C2 (ru) * 2001-12-14 2003-11-20 Новиньков Николай Никонорович Гидрорезольвер стабилизации суммарного вектора скорости двух линейных взаимно перпендикулярных гидроприводов
RU2224636C2 (ru) * 2001-12-14 2004-02-27 Новиньков Николай Никонорович Гидроблок стабилизации скорости линейных гидроприводов трехкоординатной тележки адаптивного робота
RU2224637C1 (ru) * 2002-06-17 2004-02-27 Новиньков Николай Никонорович Адаптивный пневмогидравлический робот
US6866557B2 (en) * 2002-07-02 2005-03-15 Mitch Randall Apparatus and method for producing ambulatory motion
US20040119435A1 (en) * 2002-11-14 2004-06-24 Pinney Steve B. Mechanical bug
US7238079B2 (en) * 2003-01-14 2007-07-03 Disney Enterprise, Inc. Animatronic supported walking system
US6964312B2 (en) * 2003-10-07 2005-11-15 International Climbing Machines, Inc. Surface traversing apparatus and method
US8000837B2 (en) 2004-10-05 2011-08-16 J&L Group International, Llc Programmable load forming system, components thereof, and methods of use
US7156189B1 (en) 2004-12-01 2007-01-02 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Self mountable and extractable ultrasonic/sonic anchor
US20060243086A1 (en) * 2005-03-16 2006-11-02 Cutkosky Mark R Power transmission and actuation of a legged robot
DE102005039817A1 (de) * 2005-08-22 2007-03-22 Brötje-Automation GmbH Schreitanordnung eines Fertigungsroboters
JP2007132147A (ja) * 2005-11-14 2007-05-31 Sekisui Chem Co Ltd 畳表
US7327112B1 (en) * 2006-03-06 2008-02-05 Adrian Gregory Hlynka Multiple leg tumbling robot
EP2003044B1 (en) * 2007-06-14 2010-03-31 ALSTOM Technology Ltd Automotive inspection vehicle
US20110073386A1 (en) * 2008-05-15 2011-03-31 Provancher William R Climbing Robot Using Pendular Motion
RU2463156C9 (ru) * 2008-07-04 2013-02-10 Николай Никонорович Новиньков Пневмогидравлическая система управления адаптивным пневмогидравлическим роботом
US9492760B2 (en) * 2010-01-06 2016-11-15 Mitch Randall Method and apparatus for producing ambulatory motion
US8567185B1 (en) * 2010-02-16 2013-10-29 Vecna Technologies, Inc. High efficiency actuator method, system and apparatus
US8657042B2 (en) 2010-10-04 2014-02-25 China Industries Limited Walking machine
US9162721B2 (en) * 2011-02-09 2015-10-20 Florida Institute of Technology, Inc. Robotic walking apparatus
NZ595509A (en) * 2011-09-30 2014-06-27 Xiaoqi Chen Robotic climbing platform
US9283673B2 (en) * 2012-01-31 2016-03-15 Florida Institute For Human And Machine Cognition, Inc. Fast runner limb articulation system
US9222493B2 (en) * 2013-10-14 2015-12-29 Brian Riskas Statically stable walking machine and power system therefor
US20150107915A1 (en) * 2013-10-21 2015-04-23 Areva Inc. Vacuum Stepper Robot
US9849926B2 (en) * 2014-07-23 2017-12-26 Boston Dynamics, Inc. Predictively adjustable hydraulic pressure rails
US9833903B1 (en) 2014-08-25 2017-12-05 X Development Llc Controlling extendable legs of a robotic device for use of a mechanical gripper
US9517561B2 (en) 2014-08-25 2016-12-13 Google Inc. Natural pitch and roll
PL409658A1 (pl) * 2014-09-30 2016-04-11 Ktg Spółka Z Ograniczoną Odpowiedzialnością Robot do inspekcji przestrzeni nadsufitowych
US9440353B1 (en) 2014-12-29 2016-09-13 Google Inc. Offline determination of robot behavior
DE102015013093A1 (de) * 2015-03-19 2016-09-22 Willi Zschiebsch Laufrobotervorrichtung
US10011311B2 (en) * 2015-08-28 2018-07-03 Herbert Russell Burnham Quadra walker
US10518830B2 (en) * 2015-12-04 2019-12-31 James Walter Beard, III Climbing vehicle using suction with variable adaptive suspension seal
CN105818880B (zh) * 2016-03-09 2017-12-22 上海智位机器人股份有限公司 一种三动力输出运动结构
US9987745B1 (en) 2016-04-01 2018-06-05 Boston Dynamics, Inc. Execution of robotic tasks
CN109465776B (zh) * 2018-03-22 2020-07-17 国网浙江桐乡市供电有限公司 一种智能硅胶更换装置及其工作原理
JP6734003B1 (ja) * 2019-02-14 2020-08-05 株式会社エイシン技研 回転駆動装置
CN110125924B (zh) * 2019-06-11 2021-06-04 哈尔滨工业大学 一种软体仿生足式机器人
US10919589B1 (en) 2020-04-21 2021-02-16 International Climbing Machines, Inc. Hybrid surface-traversing apparatus and method
KR102328790B1 (ko) * 2020-05-12 2021-11-22 한양대학교 산학협력단 로봇
CN114087168B (zh) * 2021-10-29 2024-07-26 杭州电子科技大学 柔性自激励式液流控制的气动发生管、气压泵和机器人

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FR2512410A1 (fr) * 1981-09-04 1983-03-11 Kroczynski Patrice Systeme de robots a pattes
FR2519576B1 (fr) * 1982-01-11 1985-11-29 Int Robotic Engineerin Robot a pattes grimpeur
JPS6092173A (ja) * 1983-10-26 1985-05-23 Toshiba Corp 移動体
JPS60104474A (ja) * 1983-11-09 1985-06-08 Nippon Kokan Kk <Nkk> 歩行装置
US4558758A (en) * 1983-12-02 1985-12-17 Erwin Littman Prime mover
GB8408458D0 (en) * 1984-04-02 1984-05-10 Stewart D E S Vehicle
SE445726B (sv) * 1984-06-28 1986-07-14 Bygg Och Transportekonomie Ab Anordning vid midjestyrda fordon
US5040626A (en) * 1986-02-12 1991-08-20 Nathaniel A. Hardin Walking robots having double acting fluid driven twistor pairs as combined joints and motors and method of locomotion
JPS62251284A (ja) * 1986-04-23 1987-11-02 Hitachi Ltd 多脚機構の協調制御方式
JP2535737B2 (ja) * 1988-06-13 1996-09-18 工業技術院長 脚移動型歩行機械の制御装置
JPH08369B2 (ja) * 1988-08-09 1996-01-10 工業技術院長 歩行脚運動軌跡制御装置
FR2647840A1 (fr) * 1989-06-02 1990-12-07 Bouygues Sa Dispositif a ventouses pour porter et deplacer un moyen d'intervention sur une surface, notamment sur une facade de batiment

Also Published As

Publication number Publication date
GB2230357B (en) 1993-06-30
DE69014367T2 (de) 1995-05-11
EP0389243A3 (en) 1991-11-27
GB2230357A (en) 1990-10-17
EP0389243B1 (en) 1994-11-30
DE69014367D1 (de) 1995-01-12
EP0389243A2 (en) 1990-09-26
US5121805A (en) 1992-06-16
JPH0366575A (ja) 1991-03-22
GB8906541D0 (en) 1989-05-04
GB9006255D0 (en) 1990-05-16

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