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6. (WO2009135694) HUMANOID ROBOT IMPLEMENTING A BALL AND SOCKET JOINT

Pub. No.:    WO/2009/135694    International Application No.:    PCT/EP2009/003340
Publication Date: Fri Nov 13 00:59:59 CET 2009 International Filing Date: Tue May 12 01:59:59 CEST 2009
IPC: B25J 17/02
B62D 57/032
Applicants: BIA
ALFAYAD, Samer
BEN OUEZDOU, Fathi
NAMOUN, Fayçal
Inventors: ALFAYAD, Samer
BEN OUEZDOU, Fathi
NAMOUN, Fayçal
Title: HUMANOID ROBOT IMPLEMENTING A BALL AND SOCKET JOINT
Abstract:
The invention relates to a humanoid robot comprising two elements (11, 12; 131, 132; 141, 142) connected by a ball and socket joint (10) with three degrees of freedom in rotation, the joint being moved by three actuators (14, 16, 18) each acting in one of the three degrees of freedom. The invention is of particular use in the creation of humanoid robots that best mimic the human anatomy. According to the invention, the first and second of the actuators (16, 18) act in parallel and the third of the actuators (14) acts in series with the first and the second of the actuators (16, 18).