LEGGED ROBOT - TOYOTA MOTOR CO LTD

Title:

LEGGED ROBOT

Document Type and Number:

WIPO Patent Application WO/2007/105463

Kind Code:

A1

Abstract:

A legged robot which, even though the position of its body trunk is kept low, can achieve a long stride without an increase in moment that is caused by gravity acting on the body trunk and is applied to a roll joint of a standing leg when the robot stands on a single leg. The leg-type robot (100) has a pair of legs (20R, 20L) connected to the body trunk (10) so as to be rotatable on its side faces (12), about a pitch axis (Y axis). Consequently, the height (H1) of the legs can be increased with the position of the body trunk (10) kept low. A long stride can thereby be achieved with the position of the body trunk (10) kept low. The legs (20) have a structure where roll joints (38, 42) are located under a bottom face (14). Consequently, the distance (LI) between the axis (C1) of each roll joint and the center of gravity (G) of the body trunk in the pitch axis direction does not increase, and moment acting on the roll joints of a standing leg does not increase when the robot stands on the single leg.

Inventors:

SUGA KEISUKE (JP)
YAMAOKA MASAAKI (JP)

Application Number:

PCT/JP2007/053457

Publication Date:

September 20, 2007

Filing Date:

February 20, 2007

Export Citation:

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Assignee:

TOYOTA MOTOR CO LTD (JP)
SUGA KEISUKE (JP)
YAMAOKA MASAAKI (JP)

International Classes:

B62D57/032; B25J5/00

Foreign References:

JP2005161441A	2005-06-23
JP2005052897A	2005-03-03
JPH07256579A	1995-10-09
JP2005052897A	2005-03-03

Other References: