To provide a leg type mobile robot capable of realizing miniaturization and weight reduction of a floor reaction force detector provided to a foot part.
The center Pb of a six-axis force sensor is provided on a position Pa where a distance to the farthest point in a ground contact region provided to the bottom face side of leaf spring parts S1-S4 in a plane view is minimized in an erecting and stationary state of the robot. It is set so as to make distances L1, L2, L3, and L4 from the center Pb of the six-axis force sensor to each farthest point in the ground contact region of the bottom face of each leaf spring part S1, S2, S3, and S4 equal in a plane view. The center Pc of an ankle joint is offset backwardly to the position Pa in a plane view.
MATSUMOTO KEIZO
GOMI HIROSHI
HAMAYA ICHIJI
| JP2003205484A | 2003-07-22 | |||
| JP2003236782A | 2003-08-26 | |||
| JP2006062057A | 2006-03-09 |
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