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Title:
関節機構、それを用いた双腕ロボットおよび二足歩行ロボット
Document Type and Number:
Japanese Patent JP3749946
Kind Code:
B2
Abstract:
As a double-arm shoulder joint mechanism of a double-arm robot and a both-legs hip joint mechanism of a biped-walk robot, use is made of a double spherical joint having a construction such that joint rotation axes of 6 DOF are intersected at one point. As the double-arm shoulder joint mechanism of the double-arm robot, arms are connected respectively to a first spherical joint and a second spherical joint of the double spherical joint. As the both-legs hip joint mechanism of the biped-walk robot, legs are connected respectively to the first spherical joint and the second spherical joint of the double spherical joint.

Inventors:
Yoshihiko Nakamura
Masashi Okada
Shinohara Tetsuya
Application Number:
JP2002030320A
Publication Date:
March 01, 2006
Filing Date:
February 07, 2002
Export Citation:
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Assignee:
National University Corporation Tokyo University
International Classes:
A63H11/00; A63H11/18; B25J17/00; B25J5/00; B25J17/02
Domestic Patent References:
JP2078808U
JP63016989A
JP10086090A
JP60094481U
JP60167796A
Attorney, Agent or Firm:
Kosaku Sugimura