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1. WO2009135694 - HUMANOID ROBOT IMPLEMENTING A BALL AND SOCKET JOINT

Publication Number WO/2009/135694
Publication Date 12.11.2009
International Application No. PCT/EP2009/003340
International Filing Date 11.05.2009
IPC
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
17
Joints
02
Wrist joints
B PERFORMING OPERATIONS; TRANSPORTING
62
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
D
MOTOR VEHICLES; TRAILERS
57
Vehicles characterised by having other propulsion or other ground-engaging means than wheels or endless track, alone or in addition to wheels or endless track
02
with ground-engaging propulsion means, e.g. walking members
032
with alternately or sequentially lifted supporting base and leg; with alternately or sequentially lifted feet or skid
B25J 17/02 (2006.01)
B62D 57/032 (2006.01)
CPC
B25J 17/0283
B62D 57/032
Y10T 74/20329
Y10T 74/20335
Applicants
  • BIA [FR/FR]; Z.A Les Boutriers F-78700 Conflans Sainte Honorine, FR (AllExceptUS)
  • ALFAYAD, Samer [FR/FR]; FR (UsOnly)
  • BEN OUEZDOU, Fathi [FR/FR]; FR (UsOnly)
  • NAMOUN, Fayçal [FR/FR]; FR (UsOnly)
Inventors
  • ALFAYAD, Samer; FR
  • BEN OUEZDOU, Fathi; FR
  • NAMOUN, Fayçal; FR
Agents
  • COLLET, Alain; Marks & Clerk Immeuble "Visium" 22, Avenue Aristide Briand F-94117 Arcueil, FR
Priority Data
085306109.05.2008FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) HUMANOID ROBOT IMPLEMENTING A BALL AND SOCKET JOINT
(FR) ROBOT HUMANOÏDE METTANT EN OEUVRE UNE ARTICULATION SPHÉRIQUE
Abstract
(EN)
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).
(FR)
L'invention concerne un robot humanoïde comprenant deux éléments (11, 12; 132, 132; 141, 142) reliés par une articulation sphérique (10) à trois degrés de libertés en rotation, l'articulation étant mue par trois actionneurs (14, 16, 18) agissant chacun selon un des trois degrés de liberté. L'invention trouve une utilité particulière dans la réalisation de robots humanoïdes se rapprochant au mieux de l'anatomie humaine. Selon l'invention, le premier et le deuxième des actionneurs (16, 18) agissent en parallèle et le troisième des actionneurs (14) agit en série du premier et du deuxième des actionneurs (16, 18).
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