DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT

Title:

DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/055649

Kind Code:

A1

Abstract:

A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.

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Inventors:

TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)
TAKEMURA YOSHINARI (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
NISHIMURA YOICHI (JP)
AKIMOTO KAZUSHI (JP)
YOKOYAMA TARO (JP)

Application Number:

PCT/JP2002/012980

Publication Date:

July 10, 2003

Filing Date:

December 11, 2002

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
HAMAYA KAZUSHI (JP)
TAKEMURA YOSHINARI (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
NISHIMURA YOICHI (JP)
AKIMOTO KAZUSHI (JP)
YOKOYAMA TARO (JP)

International Classes:

A63H11/18; B25J5/00; B25J19/00; B62D57/032; F16F9/04; (IPC1-7): B25J5/00

Foreign References:

JPH11320461A	1999-11-24
JPH0639755A	1994-02-15
US5455497A	1995-10-03
JPH1133941A	1999-02-09

Other References: