Title:
BIPED MOBILE MECHANISM
Document Type and Number:
Japanese Patent JP2009113135
Kind Code:
A
Abstract:
To provide a robot with a leg mechanism having high rigidity, so as to enable moving on wheels, on the leveled ground, and also moving on the bipedalism, on the unleveled ground, and also enabling to execute exchanging between the wheel running and the bipedalism in a short time.
The biped mobile mechanism includes two leg parts. Drive wheels are attached to the ends of the respective legs to move on the wheels on the leveled ground by inverted two-wheel control. Supporting portions, which are movable in roll and pitch directions, are attached to the ends of the respective legs. The wheels and supporting portions are brought into contact with a ground at at least three points to form a stable area.
Inventors:
AMINO AZUSA
TAMAMOTO JUNICHI
NAKAMURA RYOSUKE
TAMAMOTO JUNICHI
NAKAMURA RYOSUKE
Application Number:
JP2007286864A
Publication Date:
May 28, 2009
Filing Date:
November 05, 2007
Export Citation:
Assignee:
HITACHI LTD
International Classes:
B62D57/032; B25J5/00
Domestic Patent References:
| JP2005288561A | 2005-10-20 | |||
| JP2006082142A | 2006-03-30 | |||
| JP2006055972A | 2006-03-02 |
Attorney, Agent or Firm:
Manabu Inoue
Yuji Toda
Yuji Toda