To provide a floor reaction detector of a walking robot capable of preventing deterioration of the controllability by improving the precision of detection and reducing the effect of impact when the robot touches the ground while keeping the standing posture stable.
The leg-walking robot has at least an upper body, a plurality of legs connected to the upper body via first joints, and feet parts 22R(L) connected to the ends of the legs via second joints 18 and 20R(L). In the robot, the floor reaction detector 34 is disposed between the second joint and the ground touching end (a sole 40, etc.), of each leg. More specifically, the upper part of the floor reaction detector is connected at a position near the second joint, and a spring mechanism 38 whose rigidity is lower than a member (such as magnesium alloy or titanium) constituting the region near the second joint is mounted on the ground touching end of the leg. The lower part of the floor reaction detector is connected to the ground touching end of the leg via the spring mechanism.
GOMI HIROSHI
JP3148827B2 | 2001-03-26 |