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US 2010/0076601 A1Published application
Frog-leg-arm robot and control method thereof
OwnerKengo Matsuo, Hiroaki Imaizumi +4inventors
InventorsKengo Matsuo, Hiroaki Imaizumi, Akio Ueda, Ichiro Yasuzumi, Hiroki Murakami, Hiroyuki Amada
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Abstract
The frog-leg-arm robot is provided with a torque motor connected to a wrist rotation shaft to supply torque to a rotation shaft to which the torque motor itself is connected and a control unit in which, when each of arms constituting the frog-leg-arm robot is able to shift from the present posture to any plurality of postures including a targeted posture by a driving device, the torque motor is electrically controlled so that the torque is supplied to the wrist rotation shaft in a direction in which each of the arms is able to shift to the targeted posture.
Claims17
A frog-leg-arm robot comprising:
- a main body;
- a driving device mounted on the main body;
- a first upper arm, one end of the first upper arm being coupled to the main body via a first rotation shaft rotated by the driving device and the first upper arm being able to swing along a reference planar surface;
- a second upper arm, one end of the second upper arm being coupled to the main body via the first rotation shaft or the other first rotation shaft rotated and driven by the driving device and the second upper arm being able to swing along the reference planar surface;
- a first forearm, one end of the first forearm being supported on the other end of the first upper arm so as to rotate via a second rotation shaft and the first forearm being able to swing along the reference planar surface;
- a second forearm, one end of the second forearm being supported on the other end of the second upper arm so as to rotate via a third rotation shaft and the second forearm being able to swing along the reference planar surface;
- a hand unit which is supported on the other end of the first forearm so as to rotate via a fourth rotation shaft and also supported on the other end of the second forearm so as to rotate via a fifth rotation shaft;
- synchronization device for synchronically rotating the fourth rotation shaft and the fifth rotation shaft in the opposite direction;
- a torque motor which is connected to at least one of the second rotation shaft, the third rotation shaft, the fourth rotation shaft and the fifth rotation shaft to supply torque to the rotation shaft to which the torque motor itself is connected;
- and
- a control unit which electrically controls the torque motor in such a manner that when the first upper arm, the second upper arm, the first forearm and the second forearm are able to shift from the current posture to any plurality of postures including a targeted posture by the driving force of the driving device, the torque is supplied to the rotation shaft in a direction which each of the arms is able to shift to the targeted posture.
8 more elements
A method for controlling a frog-leg-arm robot which is provided with:
- a main body;
- a driving device mounted on the main body;
- a first upper arm, one end of the first upper arm being coupled to the main body via a first rotation shaft rotated by the driving device and the first upper arm being able to swing along a reference planar surface;
- a second upper arm, one end of the second upper arm being coupled to the main body via the first rotation shaft or the other first rotation shaft rotated and driven by the driving device and the second upper arm being able to swing along the reference planar surface;
- a first forearm, one end of the first forearm being supported on the other end of the first upper arm so as to rotate via a second rotation shaft and the first forearm being able to swing along the reference planar surface;
- a second forearm, one end of the second forearm being supported on the other end of the second upper arm so as to rotate via a third rotation shaft and the second forearm being able to swing along the reference planar surface;
- a hand unit which is supported on the other end of the first forearm so as to rotate via a fourth rotation shaft and also supported on the other end of the second forearm so as to rotate via a fifth rotation shaft;
- a synchronization device for synchronically rotating the fourth rotation shaft and the fifth rotation shaft in the opposite direction;
- and a torque motor which is connected to at least one of the second rotation shaft, the third rotation shaft, the fourth rotation shaft and the fifth rotation shaft to supply torque to the rotation shaft to which the torque motor itself is connected, and
- the method for controlling the frog-leg-arm robot comprising a step of electrically controlling the torque motor so that the torque is supplied to the rotation shaft in a direction in which each of the arms is able to shift to the targeted posture when the first upper arm, the second upper arm, the first forearm and the second forearm are able to shift from the present posture to any plurality of postures including a targeted posture by the driving force of the driving device.
7 more elements
Dependencies are inferred from the claim text.