Title:
2足歩行脚式移動ロボット
Document Type and Number:
Japanese Patent JP4213310
Kind Code:
B2
Abstract:
In a mobile robot (1) having at least a body (3) and two leg members (2) connected to the body, a parallel linkage (7) is provided between the body and the two leg members such that each of the two leg members is movable relative to the body in a substantially vertical direction. More specifically, the parallel linkage (7) is composed of upper and lower links (90, 92) and right and left links (94R, 94L) each connected to the upper and lower links, and the body is connected to the upper and lower links through first and second fulcrums (100, 102), while the two leg members are each connected to the right and left links. An actuator (104) is provided at the second fulcrum (102) to move the two leg members relative to the body substantially in the vertical direction. Moreover, the body is connected to the parallel linkage through a joint such that the body is movable relative to the two leg members around the gravity axis. With this, the robot can effectively absorb and mitigate footfall impact, offer a high degree of freedom in gait design, thereby enabling rapid, energy-efficient locomotion in a stable attitude, and permit free body movement.
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Inventors:
Yo Gomi
Kazushi Hamaya
Takashi Matsumoto
Kazushi Hamaya
Takashi Matsumoto
Application Number:
JP24344899A
Publication Date:
January 21, 2009
Filing Date:
August 30, 1999
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B62D57/032; B25J9/06
Domestic Patent References:
| JP7205070A | ||||
| JP2160482A | ||||
| JP62228384A | ||||
| JP10258185A | ||||
| JP3000794U |
Attorney, Agent or Firm:
Yutaka Yoshida