HUMANOID ROBOT HAVING COMPACT SERIES ELASTIC ACTUATOR

According to the present invention, a humanoid robot is formed between a lower limb and an upper limb to minimize an impact and vibration, and comprises a series elastic actuator formed to manually and actively control the upper limb and the lower limb. The upper limb and the lower limb can be activ...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser:	CHUNG, HOE YOUNG, HONG, SEONG IL, KANG, SIN CHEON, PARK, YONG WOON, LEE, WON SUK
Format:	Patent
Sprache:	eng ; kor
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	According to the present invention, a humanoid robot is formed between a lower limb and an upper limb to minimize an impact and vibration, and comprises a series elastic actuator formed to manually and actively control the upper limb and the lower limb. The upper limb and the lower limb can be actively controlled by using a rotational force of a drive motor. The upper limb and the lower limb can be manually controlled in accordance with a force applied between the upper limb and the lower limb by means of an independent spring arranged inside a housing. 본 발명은 하지와 상지 사이에 형성되어 충격 및 진동을 최소화하고, 상지 및 하지를 수동 및 능동 제어하도록 형성되는 직렬탄성구동기를 포함한다. 구동모터의 회전력을 이용하여 상지와 하지를 능동제어하고, 하우징 내에 배치되는 독립적인 스프링에 의하여 상지와 하지 사이에 작용하는 힘에 따라 상지와 하지를 수동제어할 수 있다.