SPINAL COLUMN FOR A HUMANOID ROBOT
First Claim
1. A spinal column for a humanoid robot, the column comprising a lower base intended to be fixed to a pelvis of the robot and an upper base intended to be fixed to a neck of the robot, the spinal column allowing two rotations of the upper base with respect to the lower base, a first of the rotations being about a sagittal axis and a second of the rotations being about a transverse axis of the column, further comprising a flexible rod and linear actuators, the rod being inset at a first of its ends at a point in a first of the bases and guided at a point in a second of the bases so as to be able to slide with respect to the second base, the actuators both being anchored between the two bases at anchor points, and wherein for each of the bases, the anchor points of the two actuators and the point of insetting or guidance of the rod are distant.
2 Assignments
0 Petitions
Accused Products
Abstract
A spinal column for a humanoid robot comprises a lower base to be fixed to a pelvis of the robot and an upper base to be fixed to a neck of the robot, the spinal column allowing two rotations of the upper base with respect to the lower base, a first being about a sagittal axis and a second being about a transverse axis. The column comprises a flexible rod and linear actuators, the rod being inset at a first of its ends at a point in a first of the bases and at least guided at a point in a second of the bases, the actuators both being anchored between the two bases at anchor points. For each of the bases, the anchor points of the two actuators and the point of insetting or guidance of the rod are distant.
55 Citations
14 Claims
- 1. A spinal column for a humanoid robot, the column comprising a lower base intended to be fixed to a pelvis of the robot and an upper base intended to be fixed to a neck of the robot, the spinal column allowing two rotations of the upper base with respect to the lower base, a first of the rotations being about a sagittal axis and a second of the rotations being about a transverse axis of the column, further comprising a flexible rod and linear actuators, the rod being inset at a first of its ends at a point in a first of the bases and guided at a point in a second of the bases so as to be able to slide with respect to the second base, the actuators both being anchored between the two bases at anchor points, and wherein for each of the bases, the anchor points of the two actuators and the point of insetting or guidance of the rod are distant.
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12. The spinal column as claimed in claims, wherein when the spinal column is vertical, the actuators are inclined with respect to a vertical direction such that the torque applied by each of the actuators in order to accomplish the rotations is at a maximum in the middle of the angular travel of each of the rotations, for a given force applied the actuator in question.
Specification