The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Dec. 25, 2001
Filed:
Jun. 22, 2000
Toru Takenaka, Wako, JP;
Takayuki Kawai, Wako, JP;
Tadaaki Hasegawa, Wako, JP;
Takashi Matsumoto, Wako, JP;
Hiroshi Gomi, Wako, JP;
Hideaki Takahashi, Wako, JP;
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, JP;
Abstract
An arm structure for anthropomorphic robots minimizes the occurrence of a singularity state of a shoulder joint assembly while the arm of the anthropomorphic robot is normally working, for thereby allowing the arm to operate smoothly. The position and posture of first through third joints (,), (,), (,) of a shoulder joint assembly (,) and the position of an elbow joint assembly (,) with respect to the third joint (,) are established such that the elbow joint assembly (,) is located above a horizontal plane lying through the point of intersection of the axes (,), (,), (,) of the first through third joints (,), (,), (,), while the shoulder joint assembly (,) is operated into a singularity state wherein the first axis (,) of the first joint (,) and the third axis (,) of the third joint (,) are aligned with each other and the elbow joint assembly (,) is positioned laterally of a torso (,).