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Title:
脚式ロボット
Document Type and Number:
Japanese Patent JP4458049
Kind Code:
B2
Abstract:
A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot (100), a pair of legs (20R, 20L) is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces (12) of a trunk (10). Thereby, it is possible to make the height H1 high while keeping the height of the trunk (10) low. It is possible to ensure a large step length while keeping the height of the trunk (10) at a low position. Legs (20) have a structure in which roll joints (38, 42) are positioned below a bottom surface (14). Thereby, the length L1 in the pitch axis direction between the rotation axis C1 of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

Inventors:
Keisuke Suga
Masaaki Yamaoka
Application Number:
JP2006055319A
Publication Date:
April 28, 2010
Filing Date:
March 01, 2006
Export Citation:
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Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J5/00; A63H11/18
Domestic Patent References:
JP2005161441A
JP200552897A
JP7256579A
Attorney, Agent or Firm:
Kaiyu International Patent Office