Honda Motor Co., Ltd.

Hironori Waita

Hiroshi Gomi

Kazushi Hamaya

Kazushi Akimoto

Shinichiro Kobashi

Yuichi Uebayashi

Toru Takenaka

Kazuyuki Takahashi

Tetsuya Ishikawa

Takahide Yoshiike

Wataru Yada

Susumu Miyazaki

Yoshinari Takemura

Masao Kanazawa

Satoki Matsumoto

Masato Hayakawa

Yasuhiro Yamasaki

Joonheon Shin

Ryuma Ujino

Masayoshi Kokusho

Tetsuaki Kurebayashi

A robot hand includes: a first link; a first fixed pulley and a second fixed pulley, respectively provided at a proximal end pivot part of the first link and rotatable around a first axis; a second link, supported at an intermediate pivot part by the first link to be rotatable around a second axis; a lever link, supported by the proximal end pivot part of the first link to be rotatable around the first axis; a lever pulley, supported by the lever link; a hanging cable, hung on the first fixed pulley, the lever pulley, and the second fixed pulley; a conversion mechanism, connecting the lever link and the second link, and converting rotation of the lever link into rotation of the second link; and a second link driving mechanism, rotating the lever link around the first axis by pulling the hanging cable.

Robot hand

Provided is a moving body capable of transmitting driving force of a drive unit to a spherical wheel without a separation between the spherical wheel and the drive unit even in the case where the moving body receives impact due to the road surface condition or the like. The moving body () is a self-sustained mobile robot. The moving body () includes a spherical wheel (), a drive unit () which is in contact with the spherical wheel () to give a rotational driving force to the spherical wheel (), a support () which supports the drive unit (), and a biasing mechanism () which is suspended from the support () and abuts on the spherical wheel () to bias the spherical wheel () in a direction toward the support ().

Moving body

An arm link () is rotatably coupled to an upper base body () around a yaw axis through a shoulder joint mechanism (). A fulcrum P of rotation of the arm link () is located within a range of widths of the upper base body () in a vertical direction and a horizontal direction of the upper base body ().

Robot having a base body, a shoulder joint mechanism assembly, and a movable link coupled to the base body through the shoulder joint mechanism assembly

A second fingerof a hand partincludes a first link memberand a second link memberthat are integrally rotatable with respect to a hand basea springand a second finger side engagement partThe springbiases the second link memberso that a position of the second link memberwith respect to the first link memberis maintained. A second finger side engagement partis engaged with a hand base side engagement partwhen the second link memberis moved by a load applied from an object O against a biasing force of the spring

Joint structure, hand device, robot arm and robot

Provided is a multi-fingered type hand device that facilitates arrangements of wirings connecting driving members which drive fingertips and the like of a robot with members which control the driving members. The multi-fingered type hand deviceincludes a wrist portion, a base portion, and a plurality of finger mechanisms, the wrist portionhaving therein a wrist sensor, at least one of the plurality of finger mechanismshaving therein a fingertip sensor, the base portionincluding a frame-shaped frame portion, a tactile sensor, a first substratethat controls outputs of the wrist sensor, the fingertip sensor, and the tactile sensor, and a second substrate, the first substrateand the second substratebeing disposed opposite to each other so as to sandwich the frame portionfrom the upper and lower.

Multi-fingered type hand device

In an inverted pendulum type vehicle having a lower frame () and an upper frame () detachably joined to an upper end of the lower frame, the lower and upper frames each defining a hollow interior, a drive unit () is incorporated in the lower frame, and a battery unit () is received in the upper frame and configured to supply electric power to the drive unit via an electric unit () received in a narrow section intermediate between the upper and lower frames. Thereby, the vehicle may be of a compact and small foot print design. In particular, when this structure is applied to a vehicle using a main wheel having a relatively small width, by matching the upper part of the vehicle to have a corresponding small width, the overall profile of the vehicle may have a highly small width. Furthermore, the total weight of the vehicle can be relatively evenly distributed between the upper and lower parts for easy handling and control.

Inverted pendulum type vehicle

A recharging system for a rechargeable battery () of an inverted pendulum type vehicle () comprises a stand () for holding the vehicle in a substantially upright posture by using a supporting member () that engages a prescribed part of the vehicle, a power feed device () is provided on the stand, and a power take device () provided on the vehicle. The power take device is positioned so as to couple with the power feed device when the prescribed part of the vehicle is engaged by the supporting member of the stand. The stand allows the vehicle to be placed in an upright posture simply leaning the vehicle against a part of the supporting member, and the electric connection between the rechargeable battery of the vehicle and the power source can be established at the same time without requiring any extra effort.

Recharging system for a rechargeable battery of an inverted pendulum type vehicle

A robot hand has a pipe which is sufficiently flexible to allow a change in the cross-sectional area thereof according to the pressure of a fluid, thereby permitting a higher degree of freedom of the layouts of the pipe and a master cylinder connected through the pipe. Moreover, considerations are given to a change in the cross-sectional area of the pipe caused by a change in the pressure of the fluid in the pipe, thus making it possible to measure the position of a slave piston with high accuracy.

Robot hand and control system, control method and control program for the same

A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders,, a plurality of driven fluid pressure cylinderswith cylinder chambersthereof being communicated with cylinder chambers,of the main driving fluid pressure cylinders,via fluid pressure transmission pipes,, and a sub driving fluid pressure cylinderwhich is divided into two cylinder chambersby a piston, and the fluid pressure generated by the main driving fluid pressure cylinders,is transmitted to the driven fluid pressure cylinders. Pistons,are driven by the main motor, and the pistonis driven by the assistant motor. The fluid pressure transmission pipes,and the cylinder chambersof the sub driving fluid pressure cylinder are connected via connecting pipes,.

Fluid pressure transmission device and robot hand device

A five-fingered hand device suitably applicable to a humanoid robot is provided. The device includes a hand body () which has a base () and five finger mechanisms () to (), a drive unit () which drives the finger mechanisms, and a control unit () which controls bending and stretching of the finger mechanisms. The drive unit () has driven fluid pressure cylinders provided inside the hand body () and driving fluid pressure cylinders () provided outside the hand body (), the driven fluid pressure cylinders being connected to the driving fluid pressure cylinders via fluid pressure transmission pipes ().

Five-fingered hand device

In a vehicle () including a frame () incorporated with a drive unit () for enabling the frame to travel in a prescribed direction and a seat assembly () supported by the frame and including a pair of saddle members () defining a pair of seat surfaces (A), respectively, configured to jointly support buttocks of a vehicle occupant, the saddle members are resiliently supported by the frame in such a manner that the seat surface of each saddle member is in an approximately horizontal orientation but is progressively tilted inward with a downward movement of the saddle member under a load of a vehicle occupant. Thus, one of the saddle members receiving a greater load than the other tilts downward toward the center of the vehicle, and this causes the vehicle occupant to be urged toward the saddle member receiving a smaller load so that the vehicle occupant is automatically urged toward the center of the vehicle, and hence the gravitational center of the vehicle occupant may be placed in the center of the vehicle at all times.

An inverted pendulum type vehicle () includes a lower frame incorporated with load sensor having an input portionfor receiving an external force and an upper frame () provided with a saddlefor supporting a load of a rider or a cargo and a grip handle () for enabling a user not riding the vehicle to support the vehicle (), the upper frame being connected to the lower frame via the input portion of the load sensor. Therefore, in the vehicle including the lower frame supporting a propelling unit for the vehicle and the upper frame detachably attached to the lower frame, by using a single force sensor, not only the force acting on a load support portion of the upper frame can be detected in an accurate manner, but also the force acting on the load support portion when the user is transporting the vehicle can be detected.

A frictional drive device comprises a pair of drive disks () each rotatably supported by a frame () around a central axial line (A) in a mutually opposing relationship, and a pair of actuators () supported by the frame for individually rotatively actuating the drive disks and coaxially disposed with respect to the corresponding drive disks, a plurality of drive rollers () arranged along an outer periphery of each drive disk and each having a rotational center line so as to be rotatable along a plane which is neither parallel nor perpendicular to the central axial line, and an annular main wheel () disposed approximately coaxially with respect to the central axial line and engaged by the drive rollers of the drive disks, the main wheel comprising an annular member () and a plurality of driven rollers () supported along the annular member so as to be rotatable around a tangential line of the annular member. A speed reduction unit () may be interposed between each actuator and the corresponding drive disk all in a coaxial relationship.

Frictional drive device and inverted pendulum type vehicle using the same

A vehicle appraisal assisting robot () includes an information acquisition unit () for acquiring basic information required for appraisal of a client vehicle (), an image taking unit () for taking an image of a portion of the vehicle required to evaluate a state of the vehicles, an action generator () for generating an action required for the image taking unit to take an image of the portion of the vehicle, a communication unit () for sending the basic information and the image information to an apparatus () on an appraiser side, which generates appraisal results information based on the information sent from the communication unit. The communication unit also receives the appraisal results information from the apparatus on the appraiser side, and an information output unit () outputs the appraisal results information received by the communication unit to present the appraisal results information to the client.

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Saitama, Japan

Hironori Waita