LEG TYPE MOVING ROBOT - HONDA MOTOR CO LTD

Title:

LEG TYPE MOVING ROBOT

Document Type and Number:

WIPO Patent Application WO/2006/027902

Kind Code:

A1

Abstract:

A leg type moving robot (R) capable of reducing the size and weight of a floor reaction force detector provided at the foot section (17R, 17L). Center Pb of a six-axis force sensor (52) is located at a position (Pa) at the shortest distance from the farthest point in a grounding region provided on the bottom face side of a leaf spring part (S1-S4) in the plan view of the robot (R) under standing still state, wherein the distances (L1, L2, L3, L4) from the center Pb of the six-axis force sensor (52) to the farthest points in the grounding regions on the bottom faces of respective leaf spring parts (S1, S2, S3, S4) are equalized in the plan view. Center (Pc) of the ankle joint is offset rearward from the position (Pa) in the plan view.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO KEIZO (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)

Application Number:

PCT/JP2005/013575

Publication Date:

March 16, 2006

Filing Date:

July 25, 2005

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO KEIZO (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)

International Classes:

B25J5/00

Foreign References:

JP2003205484A	2003-07-22
JP2003236782A	2003-08-26

Other References: