LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT

Title:

LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/068455

Kind Code:

A1

Abstract:

In a foot of a leg type movable robot, deformation or the like of the foot is absorbed by a first recess, so that the position and shape of a touchdown point hardly change. Therefore, a change in drag on the moment around a yaw axis becomes reduced, suppressing the occurrence of spin motion or the like. Further, when the foot is placed on a projection or a step, a soft portion is deformed to receive it, with a friction retainment force acting between the soft portion and the projection. Therefore, a state is created in which the foot adapts itself to the road surface, suppressing the occurrence of slide-off or an extremely rapid motion due to the projection, allowing the foot to accommodate itself to road surfaces, such as non-continuous surfaces and irregular surfaces, thus further increasing the stability of attitude.

Inventors:

KATO KEISUKE (JP)
KOIKE GOUSHI (JP)
TOSAKA SUSUMU (JP)
MORIKAWA HIROAKI (JP)
YAMAGUCHI JINICHI (JP)
NAGASAKA KENICHIRO (JP)
NAGANO MASAKUNI (JP)

Application Number:

PCT/JP2003/001582

Publication Date:

August 21, 2003

Filing Date:

February 14, 2003

Export Citation:

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Assignee:

SONY CORP (JP)
KATO KEISUKE (JP)
KOIKE GOUSHI (JP)
TOSAKA SUSUMU (JP)
MORIKAWA HIROAKI (JP)
YAMAGUCHI JINICHI (JP)
NAGASAKA KENICHIRO (JP)
NAGANO MASAKUNI (JP)

International Classes:

B25J19/00; B62D57/02; B62D57/032; (IPC1-7): B25B5/00; B25J13/00

Domestic Patent References:

WO2001032366A1

2001-05-10

Foreign References:

EP0765797A2	1997-04-02
US5455497A	1995-10-03
US5416393A	1995-05-16
JP2000254888A	2000-09-19
JP2001347476A	2001-12-18
EP0923011A2	1999-06-16

Other References: