| 摘要 |
The invention concerns a spinal column for a humanoid robot, the column (20) comprising a lower base (11) intended to be fixed to a pelvis of the robot (10) and an upper base (13) intended to be fixed to a neck (14) of the robot (10), the spinal column (10) allowing two rotations of the upper base (13) relative to the lower base (11), a first taking place about a sagittal axis (21) and a second taking place about a transverse axis (22). According to the invention, the column (20) comprises a flexible band (25) and linear actuators (26, 27), the band (25) being embedded in a first of the ends (28, 30) thereof at a point (29) in a first of the bases (11, 13) and at least guided at a point (31) in a second of the bases (11, 13), the actuators (26, 27) both being anchored between the two bases (11, 13) at anchoring points (32, 33, 34, 35). For each of the bases (11, 13), the anchoring points (32, 33, 34, 35) of the two actuators (26, 27) and the embedding or guide point (29, 31) of the band (25) are spaced apart. |
