Title:
LEGGED MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2004/020159
Kind Code:
A1
Abstract:
A leg section of a legged mobile robot has at least a first joint (16) and second joints (18, 20) arranged more downward in the direction of gravity than the first joint. Actuators (54, 56) for driving the second joints are arranged at the same position as the first joint or at a position (28) more upward in the direction of gravity than the first joint. This enables to lighten the weight of the landing side of the leg section and to reduce inertia force generated in the leg section during movement.
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Inventors:
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)
TOYODA HITOSHI (JP)
TAKEMURA YOSHINARI (JP)
HAMAYA KAZUSHI (JP)
TOYODA HITOSHI (JP)
TAKEMURA YOSHINARI (JP)
Application Number:
PCT/JP2003/010076
Publication Date:
March 11, 2004
Filing Date:
August 07, 2003
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)
TOYODA HITOSHI (JP)
TAKEMURA YOSHINARI (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)
TOYODA HITOSHI (JP)
TAKEMURA YOSHINARI (JP)
International Classes:
B25J5/00; B25J9/10; B62D57/032; B25J17/00; (IPC1-7): B25J17/00; B25J5/00
Foreign References:
| JP2002210682A | 2002-07-30 | |||
| EP0236109A1 | 1987-09-09 | |||
| JPS60131175A | 1985-07-12 | |||
| JPS62187671A | 1987-08-17 |
Other References:
See also references of EP 1535705A4
Attorney, Agent or Firm:
Yoshida, Yutaka (20-2 Higashi Ikebukuro 1-chom, Toshima-ku Tokyo, JP)
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