Université De Versailles—saint-Quentin-En-Yvelines

Samer Alfayad

Fayçal Namoun

Fathi Ben Ouezdou

Mohamad Kardofaki

Maya Sleiman

Olivier Bruneau

Paul-François Doubliez

A hydraulic actuator includes a variable-delivery positive-displacement pump, a member able to continuously vary the delivery of the pump, the member being actuated by a ram supplied by a first directional-control valve commanded on the basis of an actuator movement instruction. The actuator comprises a second directional-control valve commanded on the basis of an output pressure of the pump, the second directional-control valve comprising two positions, one of them, known as the rest position, obtained as long as the output pressure of the pump is below a predetermined pressure and transmitting the output from the first directional-control valve to the double-acting ram and the other, referred to as the active position, transmitting the output pressure of the pump to the ram so as to reduce the output pressure of the pump without passing via the first directional-control valve.

Hydraulic actuator with overpressure compensation

The invention relates to a humanoid robot comprising two elements connected by a spherical joint with three degrees of freedom in rotation, the joint being moved by three actuators each acting in one of the three degrees of freedom. The invention is of particular use in the production of humanoid robots coming as close as possible to the human anatomy. According to the invention, the first and the second of the actuators act in parallel and the third of the actuators acts in series with the first and the second of the actuators.

Humanoid robot implementing a ball and socket joint

A humanoid robot includes a spherical joint with three degrees of freedom in rotation about three axes, the spherical joint connecting a first element and a second element of the robot, and three actuators for moving the spherical joint. The three actuators include a first actuator coupled to the first element, a second actuator coupled to the second element and the first actuator, and a third actuator coupled to the second element and the first actuator. The second actuator and the third actuator act in parallel and coupled together. The first actuator acts in series with the second actuator and the third actuator about a first axis of the three axes. An angular range of movement about the first axis is greater than an angular range of movement about either a second axis or a third axis of the three axes.

Humanoid robot implementing a spherical hinge with coupled actuators

A converter for converting mechanical energy into hydraulic energy and a robot implementing the converter are disclosed. The converter includes a shaft rotated about a first axis relative to a casing, a hub defining a bore about a second axis, the shaft rotating in the bore. The first axis is parallel to the second axis, and a distance between the first axis and second axis defines an eccentricity. At least two pistons are movably disposed in radial housings of the shaft with the at least two pistons bearing against the bore. Movement of the pistons feed a hydraulic fluid into one of two annular grooves of the casing arranged in an arc of a circle about the first axis, and the hub is configured to translate along a third axis to modify the value of the eccentricity between two extreme values.

Converter for converting mechanical energy into hydraulic energy and robot implementing said converter

A foot for a humanoid robot includes a sole having an upright secured thereto, toes, a motorized connection, independent of the ankle, in rotation between the sole and the toes, wherein the toes are able to move on an angular travel about an axis of the connection, an actuator formed of a linear jack coupled to the upright and the toes, allowing the connection to be motorized, and means for controlling the actuator in a standalone manner. The foot is of particular utility in the production of humanoid robots coming as close as possible to the human morphology.

Growing community of inventors

Bourg la Reine, France

Samer Alfayad