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5. (WO2009144320) HUMANOID ROBOT IMPLEMENTING A SPHERICAL HINGE WITH COUPLED ACTUATORS

Pub. No.:    WO/2009/144320    International Application No.:    PCT/EP2009/056678
Publication Date: Fri Dec 04 00:59:59 CET 2009 International Filing Date: Sat May 30 01:59:59 CEST 2009
IPC: 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 SPHERICAL HINGE WITH COUPLED ACTUATORS
Abstract:
The invention relates to a humanoid robot (5) implementing a spherical hinge (10, 100, 200) with coupled actuators, and to a method for implementing said spherical hinge. The invention can particularly be used in the production of humanoid robots which are closer to human anthropomorphism. The hinge (10, 100, 200) connects two members (101, 103; 105, 104; 101, 102) of the robot (5). The hinge is actuated by three actuators (20, 35, 36), wherein the first actuator (35) and the second actuator (36) act in parallel and are coupled together, and the third actuator (20) acts in series relative to the first two actuators about an axis (13). According to the invention, the axis of the third actuator (20) is the axis having the highest angular displacement in order to be closer to human anthropomorphism.