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Patent Searching and Data


Title:
ROBOT LOWER BODY COMPRISING PARALLEL LINK STRUCTURE, AND WALKING ROBOT DEVICE COMPRISING SAME
Document Type and Number:
WIPO Patent Application WO/2018/097437
Kind Code:
A1
Abstract:
A walking robot device comprises a robot lower body comprising: a first main drive link rotatably connected to a body; a second main drive link rotatably connected to an end of the first main drive link; an auxiliary drive link rotatably connected to the body; and a transmission link rotatably connected to an end of the auxiliary drive link and the second main drive link, wherein a range allowing movement of a position on the second main drive link, to which the transmission link is connected, is included in a range allowing movement of the other end portion of the transmission link and, when a torque is applied to only the first main drive link and the second main drive link, a torque applied to the auxiliary drive link is determined in consideration of a torque to be applied to each of the main drive links.

Inventors:
LEE JONGWOO (KR)
OH YONGHWAN (KR)
LEE GIUK (KR)
Application Number:
PCT/KR2017/006324
Publication Date:
May 31, 2018
Filing Date:
June 16, 2017
Export Citation:
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Assignee:
KOREA INST SCI & TECH (KR)
International Classes:
B25J9/00; B25J5/00; B25J9/04; B25J9/10; B25J9/16
Foreign References:
JP2014050944A2014-03-20
KR20160089298A2016-07-27
KR20140064217A2014-05-28
KR101182620B12012-09-14
JP2013248699A2013-12-12
Other References:
LEE ET AL.: "a novel multi-articular leg mechanism for biped robots in spired by bi-articular muscle", 6TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB, 26 June 2016 (2016-06-26), pages 1372 - 1377, XP032930630, DOI: doi:10.1109/BIOROB.2016.7523825
Attorney, Agent or Firm:
KIM, Sun-young (KR)
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