BIPEDAL WALKING ROBOT

Japanese Patent JP3918049

B2

PROBLEM TO BE SOLVED: To dissolve a problem that in a conventional bipedal walking robot with leg parallel two wheels, to smoothly walk a stair is a main purpose, and high speed running on a flat surface and smooth operation are impracticable.
SOLUTION: A first side leg 5 extending from a body 1 to the side is rotatable centering around an axis 6 by a motor 7. A first main leg 11 extending downward from the first side leg 5 is rotatable around an axis 12 by a motor 13, and the first main leg 11 is made telescopic by a ball screw mechanism rotated by a motor 15. A first auxiliary leg 25 rotated centering around an axis 26 by a motor 27 is situated at the lower part of the vertically moving first moving leg 17. A first rotary joint 28 with a brake freely rotatable is situated at the lower part of the first auxiliary leg 25. A 6-axis force sensor 30 is situated therebelow between a first wheel frame 29 situated therebelow and the first rotary joint. A first side wheel 32 driven by a motor 31 and a second foot wheel 34 driven by a motor 33 are situated at the first wheel frame 29 to constitute a first leg 51 and effects running and walking as a whole through corporation with a second leg 52 of the same constitution.

JP2572844	[Name of device] Wheelbarrow toy
JP2004321757	BIPED WALKING TOY DRIVING MODULE

Matsumoto Osamu

JP2002065106A

May 23, 2007

March 11, 2002

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National Institute of Advanced Industrial Science and Technology

A63H11/18; B25J5/00; (IPC1-7): B25J5/00; A63H11/18

JP2001138272A
JP5285864A
JP4085209U
JP1316810A
JP63237881A

静的歩容を規範とした2足歩行型脚車輪ロボットの階段昇降制御,日本ロボット学会誌,社団法人日本ロボット学会,1998年 9月,Vol.16,No.6,p.134-141
HRP仮想プラットフォーム検証用ハードウェアモデル,第18回日本ロボット学会学術講演会予稿集,社団法人日本ロボット学会,2000年 9月12日,第1分冊,p.571-572

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