Bipedal robot

• US 20040027086A1
• Filed: 05/15/2003
• Published: 02/12/2004
• Est. Priority Date: 09/29/2000
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Matsuda, Hiroshi, Ogawa, Kenichi, Miyazaki, Susumu, Koyanagi, Takuro, Takahashi, Hideaki
• Granted Patent: US 6,822,421 B2
• Time in Patent Office: Days
• US Class Current: 318/568.12
• CPC Class Codes: B25J 19/005 using batteries, e.g. as a back-up power source
• CPC Class Codes: B62D 57/02 with ground-engaging propulsion means, e.g. walking members
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

An electric energy storage device 6 as a power supply for operating a robot is mounted on an upper body 1 of the robot at such a position that the electric energy storage device 6 has a center-of-gravity point B present upwardly and rearwardly of the center-of-gravity point A of the robot from which the electric energy storage device 6 is removed and which is in an upstanding state. Shoulders 10 of arms 3 extending from the upper body 1 of the robot have a center C positioned forwardly of the center-of-gravity point A. An imaging device 22 for robot vision is supported on an upper end of the upper body 1 of the robot by an attachment 2 which is positioned forwardly of the center-of-gravity point A. It is thus possible to achieve attitude stability with ease when the robot walks and works.

Claims

1. A bipedal robot having an electric energy storage device for operating the robot, characterized in that

said electric energy storage device is mounted on an upper body of the robot such that the electric energy storage device has a center-of-gravity point present at a position upward of the center-of-gravity point of the robot from which said electric energy storage device is removed and which is in an upstanding state.

5. A bipedal robot according to claim 1 or 2, characterized in that an electric energy storage device mounting unit disposed on an upper body of the robot for mounting said electric energy storage device therein has an opening defined in an upper end thereof when the robot is in the upstanding state, said electric energy storage device being insertable into and removable from said electric energy storage device mounting unit through said opening.

6. A bipedal robot according to claim 5, characterized in that said electric energy storage device mounting unit has an electric reception terminal disposed on a lower end thereof when the robot is in the upstanding state, for detachable connection to an electric supply terminal of the electric energy storage device as mounted in said electric energy storage device mounting unit.

2. A bipedal robot having an electric energy storage device for operating the robot and arms extending from shoulders on an upper body of the robot, characterized in that

said electric energy storage device is mounted on the upper body of the robot such that the electric energy storage device has a center-of-gravity point present at a position rearward, in a forward and rearward direction of the robot, of the center-of-gravity point of the robot from which said electric energy storage device is removed and which is in an upstanding state, and the shoulders on the upper body of the robot, to which said arms are coupled, are disposed in a position forward, in the forward and rearward direction of the robot, of the center-of-gravity point of the robot from which said electric energy storage device is removed and which is in the upstanding state.

3. A bipedal robot according to claim 2, wherein said electric energy storage device is mounted on the upper body of the robot such that the center-of-gravity point of the electric energy storage device is present at a position upward of the center-of-gravity point of the robot from which said electric energy storage device is removed and which is in an upstanding state.

4. A bipedal robot according to claim 2 or 3, characterized in that said robot has an imaging device present upwardly of the upper body of the robot and supported on an upper end of the upper body of the robot, said imaging device and the upper body of the robot are coupled to each other by a joint disposed in a position forward, in the forward and rearward direction of the robot, of the center-of-gravity point of the robot from which said electric energy storage device is removed and which is in the upstanding state.