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Title:
LEG TYPE MOBILE ROBOT AND ITS FLOOR REACTION FORCE DETECTOR
Document Type and Number:
Japanese Patent JP2003205481
Kind Code:
A
Abstract:

To compactly house displacement sensors in feet parts of a leg type mobile robot with a constraint in space.

The humanoid robot is provided with at least an upper body, a plurality (two) of legs connected to the upper body via first revolute joints, and the feet parts connected to tips of the leg parts via second revolute joints. Four cylindrical elastic bodies 382 are arranged between the second revolute joint and a ground touching end of the feet part, the displacement sensor 70 is arranged in a space defined by upper and lower ends ht of the cylindrical elastic bodies, and a displacement Ln of the ground touching end of the feet part with respect to the second revolute joint is detected. An anomaly of the displacement sensor 70 is detected (self-diagnosed) by using its degree of redundant freedom.


Inventors:
TAKENAKA TORU
GOMI HIROSHI
SHIGEMI SATOSHI
MATSUMOTO TAKASHI
Application Number:
JP2001401490A
Publication Date:
July 22, 2003
Filing Date:
December 28, 2001
Export Citation:
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Assignee:
HONDA MOTOR CO LTD
International Classes:
B25J5/00; B25J13/08; B25J19/02; B62D57/02; B62D57/032; (IPC1-7): B25J5/00; B25J13/08
Domestic Patent References:
JP2000254888A2000-09-19
JP2002337076A2002-11-26
JPH11160150A1999-06-18
JP2001239479A2001-09-04
JPH07260604A1995-10-13
JP2001353686A2001-12-25
Attorney, Agent or Firm:
Yutaka Yoshida



 
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