Articulated structure for legged walking robot

Details Articulated structure for legged walking robot Articulated structure for legged walking robot

1990-12-14

1992-11-03

Hill, Mitchell J.

Motor vehicles

Special driving device

Stepper

180 81, 2502311, 414 1, 414 5, 901 1, 395 1, B62D 5702

Patent

active

051599880

ABSTRACT:
A legged walking robot such as a two-legged walking robot, for example, has an articulated structure with at least two degrees of freedom, one of which is a degree of freedom for angularly moving a leg in a pitch direction about a first axis of a hip joint assembly, comprising an electric motor for angularly moving the leg in the pitch direction. The electric motor has an output shaft which is axially aligned with the first axis about which the leg is angularly movable in the pitch direction. The articulated structure also has a speed reducer having an input shaft which coaxial with the output shaft of the electric motor. The other degree of freedom is a degree of freedom for angularly moving the leg in a roll direction normal to the pitch direction. The articulated structure also includes a second electric motor for angularly moving the leg in the roll direction and a second speed reducer having an output shaft which is coaxial with a second axis about which the leg is angularly movable in the roll direction.

REFERENCES:
patent: 3702999 (1972-11-01), Gradisar
patent: 4579558 (1986-04-01), Ramer
patent: 4698572 (1987-10-01), Stone
patent: 4751868 (1988-06-01), Paynter
patent: 4834200 (1989-05-01), Kajita
Hitachi Review (1987) pp. 71-78 (8297) Development of the Legged Walking Robot.
International Journal of Robotics Research (8210) (1984) Cambridge, Mass., USA pp. 60-74.

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