FLOOR REACTION DETECTOR OF LEGGED MOBILE ROBOT

Title:

FLOOR REACTION DETECTOR OF LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/022533

Kind Code:

A1

Abstract:

A floor reaction detector of a legged mobile robot having at least an upper body, a plurality of leg parts connected to the upper body through first articulations, and leg parts connected to the end parts of the leg parts through second articulates, disposed between the second articulates and the ground−contact ends of the leg parts, wherein the upper parts of the floor reaction detectors are connected to near the second articulates, a spring mechanism body lower in rigidity than a member forming a part near the second articulate is installed at the ground−contact ends of the leg parts, and the lower parts of the floor reaction detectors are connected to the ground−contact ends of the leg parts through the spring mechanism bodies, whereby a controllability is not deteriorated since a detection accuracy is increased, and the affection of impact at the time of ground−contact can be reduced while stably holding an attitude in standing state.

Inventors:

HIROSE MASATO (JP)
GOMI HIROSHI (JP)

Application Number:

PCT/JP2002/008299

Publication Date:

March 20, 2003

Filing Date:

August 15, 2002

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
HIROSE MASATO (JP)
GOMI HIROSHI (JP)

International Classes:

G01L5/16; B25J5/00; B25J13/08; B25J19/00; B25J19/02; B62D57/032; (IPC1-7): B25J5/00

Domestic Patent References:

WO1999054095A1	1999-10-28
WO1998033629A1	1998-08-06

Foreign References:

EP0360923A1

1990-04-04

Other References: