Title:
脚式ロボット
Document Type and Number:
Japanese Patent JP4539618
Kind Code:
B2
Abstract:
A legged robot is provided whose trunk link is not prone to wobble in the front-back direction during walking. The legged robot (10) is equipped with a trunk link (12) and a pair of legs (20L, 20R). Each leg (20L, 20R) has a pitch joint (24L, 24R) capable of rotating the connected links in a plane that intersects with a line extending in a lateral direction of the robot. Rotation centers (24LP, 24RP) of the pitch joints are located above a center of gravity G of the trunk link. The legged robot walks mainly by swinging the legs backward and forward around such rotation centers. Hence, the trunk link (12) wobbles mainly in the front-back direction around the rotation centers as the robot walks. Because the center of gravity G of the trunk link (12) is located below the rotation centers, the gravitational force acting on the trunk link (12) acts in a direction to suppress swinging of the trunk link (12) during walking. Due to this, the trunk link (12) of the legged robot (10) is not prone to wobble in the front-back direction during walking.
Inventors:
Keisuke Suga
Akira Ogawa
Akira Ogawa
Application Number:
JP2006207471A
Publication Date:
September 08, 2010
Filing Date:
July 31, 2006
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J5/00; B62D57/032
Domestic Patent References:
| JP2005297087A | ||||
| JP2005052897A | ||||
| JP2003080476A | ||||
| JP61143266A | ||||
| JP2007185734A | ||||
| JP2005186650A | ||||
| JP2007229872A | ||||
| JP2002160182A | ||||
| JP11500331A | ||||
| JP62149568A | ||||
| JP2004105553A |
Attorney, Agent or Firm:
Kaiyu International Patent Office