Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Yoshinari Takemura

Hiroshi Gomi

Kazushi Hamaya

Toru Takenaka

Takashi Matsumoto

Kazushi Akimoto

Takahide Yoshiike

Yoichi Nishimura

Taro Yokoyama

Masahiro Shimizu

Wataru Yada

Yoshinobu Shiomi

Tetsuya Ishikawa

Atsuo Orita

Tadaaki Hasegawa

Hironori Waita

Yusuke Muto

Hitoshi Toyoda

Takafumi Fukushima

Nozomi Kamiyama

Yuhi Nakagawa

A hand sectionincludes a hand base sectionattached to a link section, a first finger sectionprovided to extend in a direction non-parallel with a direction toward a tip end portion from a base end portion of the hand base section, from the tip end portion of the hand base section, and a cameraprovided at a side surface of the hand base section, and capable of imaging a sideward of the hand base section

End effector, hand device and robot equipped with the same

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

A power devicehas a speed reducerand a spring memberprovided in a power transmission system between an actuatorand a driven element, an operation target of the actuatoris determined according to a linear combination of values that are obtained by passing through low-pass filters, a deviation &#x394;&#x3c9;between an estimated value &#x3c9;of a velocity of an input unitof the spring memberand an estimated value &#x3c9;of a velocity of the driven element, and a deviation &#x394;&#x3b8;def between a value &#x3b8;defof a deviation between the input unitof the spring memberand the driven element, and a target value &#x3b8;def_cmd of the displacement difference corresponding to a target driving force &#x3c4;ref of the driven element

Control device for power device

An inverted pendulum type vehicle includes a vehicle body frame; a main wheel including a plurality of rotatable driven rollers arranged to form a ring, and a pair of left and right driving disks supported for rotation on the vehicle body frame. Each of the driving disks includes a plurality of rotatable driving rollers, disposed for contact in a twisted relationship with the driven rollers. The vehicle also includes a pair of left and right driven pulleys provided on outer sides of the driving disks, and a pair of left and right driving units, attached to the vehicle body frame above the main wheel, and including motors having output power shafts to which driving pulleys are attached. Endless transmission members interconnect the driving pulleys and the driven pulleys. The left and right driving units are disposed in an vertically offset relationship from each other.

Inverted pendulum type vehicle

Assembling workability of driving disks to a vehicle body frame, and setting a spacing dimension of left and right driving disks in an axial direction with high accuracy to stabilize a traveling performance of an inverted pendulum type vehicle. The left and right driving disks are assembled to a hollow shaft member in a positioned state in an axial direction to form a subassembly. The hollow shaft member is fixed to a vehicle body frame by a bolt inserted in a central through-hole of the hollow shaft member.

In a legged mobile robot (), each leg () has at least a first joint () and a second joint () located below the first joint in the gravitational direction, and the actuator that drives the second joint () is located at least one of a position same as that of the first joint and a position () above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.

Legged mobile robot

In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.

To provide a harmonic drive gearing with high degree of freedom in terms of layout. A harmonic drive gearingincludes a circular spline', having outer teeth formed on an outer peripheral surface; an flexible spline, positioned at the outside of the circular spline&#x2032;, and having inner teeth, which are engageable with the outer teeth of the circular spline&#x2032;, formed on an inner peripheral surface; and a rotorwhich is disposed at outside of the flexible splineand serves as a wave generator, wherein the rotordeflects the flexible splineby minor axis portions of the inner peripheral surface of the flexible splineand engages the inner teeth of the flex spline with the outer teeth of the circular spline&#x2032; and thereby the engagement position between the inner teeth and the outer teeth is adapted to move in a circumferential direction.

Drive unit with reducer

A landing shock absorbing devicedisposed in a foot mechanismof a leg of a robot, wherein an inflatable bag-like member(variable capacity element) is provided at a bottom face side of the foot mechanism. The bag-like memberis constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like memberby inflow/outflow meansequipped with a solenoid valve, and the like. In a lifting state of the foot mechanism, inflow of the air into the bag-like memberis controlled, thereby controlling the final height of the bag-like memberin an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.

Device for absorbing floor-landing shock for legged mobile robot

A landing shock absorbing devicedisposed in a foot mechanismof a leg of a robot, wherein an inflatable bag-like member(a variable capacity element) is provided at a ground-contacting face side of the foot mechanismThe bag-like memberis constructed of an elastic material such as rubber and has a restoring force. An interior portion of the bag-like memberis communicated with the atmosphere side through a flow passageDuring a landing motion of the leg, the bag-like membermakes contact with the ground to be compressed, and the air in the interior portion thereof flows out into the atmosphere through the flow passageso that its outflow resistance is generated. Accordingly, a landing shock is reduced. In a lifting state of the leg, the restoring force of the bag-like memberallows the bag-like memberto be inflated while the air flows into the interior portion thereof. An impact load during the landing of the leg of the legged mobile robot may smoothly be reduced in a light-weight configuration.

An assist device is provided with a spring device that generates an auxiliary driving force, by an elastic energy, acting on a joint of a leg. The spring device includes a gas spring having a cylinder and a piston. Bending/stretching motion between link members and at the joint is transmitted to the spring device through a motion transmission device that includes a link arm. The spring device is provided so that the auxiliary driving force increases as a knee bending angle &#x3b8; increases until the knee bending angle &#x3b8; reaches a predetermined angle, and so that, once the knee bending angle &#x3b8; exceeds the predetermined angle, the auxiliary driving force becomes smaller than or equal to the driving force obtaining at the predetermined angle, effectively reducing a burden on an actuator of the legged mobile robot joint.

Leg joint assist device for legged movable robot

A landing shock absorbing deviceprovided in a foot mechanismof a leg of a robot comprises an inflatable and compressible bag-like member(a variable capacity element) on a bottom face side of the foot mechanism. The bag-like memberis constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like memberby inflow/outflow meansprovided with a solenoid valveand the like. In a landing state of the foot mechanismand in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valveis closed to maintain the bag-like memberin a compressed state. Furthermore, during the bag-like memberin the inflating state during the lifting state of the foot mechanism, by controlling timing when the solenoid valveis switched from a valve opening state to a valve closing state, a height of the bag-like memberin a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.

An assist device that applies an auxiliary driving force to a joint in parallel with a driving force of a joint actuator between a thigh portion and a crus portion, which are a pair of link members of a leg. The assist device generates the auxiliary driving force by use of spring device, such as a solid spring or an air spring. A member supporting a rod member connected to the spring device is provided with a device for transmitting a bending and stretching motion of the leg at the joint (a relative displacement motion between the thigh portion and the crus portion) to the spring device to generate an elastic force of the spring device, and for discontinuing the transmission of the bending and stretching motion to the spring device. This transmitting device is controlled in accordance with a gait of a robot. Thus, a burden on the joint actuator is reduced where necessary and favorable utilization efficiency of energy can be stably ensured.

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Wako, Japan

Yoshinari Takemura