LEG-TYPE MOVING ROBOT AND FLOOR REACTION FORCE DETECTION DEVICE THEREFOR

Title:

LEG-TYPE MOVING ROBOT AND FLOOR REACTION FORCE DETECTION DEVICE THEREFOR

Document Type and Number:

WIPO Patent Application WO/2003/057420

Kind Code:

A1

Abstract:

A leg-type moving robot (1), wherein an elastic element (382) is arranged between a second joint (18, 20) linking the tip end of a leg unit (2) with a foot unit (22) and a ground-contact end of the foot unit, and a displacement sensor (70) is arranged in a space defined by the upper and lower ends of the elastic element, whereby it is possible to compactly house the displacement sensor including constituent elements such as a conversion unit in the foot-unit elastic element of the spatially-restricted leg-type moving robot. The redundant degree of freedom of the displacement sensor is used to self-diagnose its abnormality. In addition, a floor reaction force accurately detected can let the leg-type moving robot walk further more constantly.

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Inventors:

TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)

Application Number:

PCT/JP2002/013294

Publication Date:

July 17, 2003

Filing Date:

December 19, 2002

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)

International Classes:

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

Foreign References:

JP2000254888A	2000-09-19
JP2002337076A	2002-11-26
JPH11160150A	1999-06-18
EP1110853A2	2001-06-27
JPH07260604A	1995-10-13
JP2001353686A	2001-12-25

Other References: