To provide a multi-point ground-contact type leg part support mechanism with excellent reliability capable of being easily attached to a sole of a leg part of an existing two-foot walking robot or the like, certainly and passively sliding a movable claw part of a sole support part according to a recession/projection of a ground-contact surface of a road surface or the like, quickly and certainly multi-point-supporting the sole even on the ground-contact surface with a level difference by braking the motion of the sole support part by detecting ground-contact of the fixed claw part and a movement amount of the movable claw part, and avoiding falling.
The multi-point ground-contact type leg part support mechanism is provided with a base part arranged on the sole of the leg part of the walking robot; and the sole support part for multi-point-supporting the base part. The sole support part is provided with the three or more of movable claw parts having lower ends arranged so as to be projected to below a bottom surface of the base part and slidably retained so as to be each independently upwardly moved at ground-contact; a movement amount detection sensor part for detecting the movement amount of the respective movable claw parts; and a lock mechanism for braking the motion of all movable claw parts based on the movement amount of the movable claw parts detected by the movement amount detection sensor part.
HAYASHI AKIHIRO
HASHIMOTO KENJI
SUGAWARA YUSUKE
KAWASE MASAMIKI
SAWATO TERUMASA
ENDO NOBUTSUNA
OTA AKIHIRO
TANAKA TOMOAKI
TAKAMOTO YOICHI
BABA KATSUYUKI
INO SHIGEAKI
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