Biped locomotion robot

Details Biped locomotion robot Biped locomotion robot

2006-01-03

2006-01-03

Hurley, Kevin (Department: 3611)

Motor vehicles

Special driving device

Stepper

C901S001000

Reexamination Certificate

active

06981562

ABSTRACT:
The movement analysis becomes easy and the control of all the movement systems is realized better through the initialization of the multiple coordinate systems. The fundamental body portion6is coupled to a foot portion5through a first joint portion7, a first link3, a second joint portion8, a second link4, and a third joint portion9. The rigidity of the first link3is lower than that of the fundamental body portion6, and the rigidity of the second link4is lower than that of the second link4. It is possible to position the second link4and the foot portion5in a high precision to a mechanical origin which is predetermined to the fundamental body portion, for the reason of the rigidity relation. Handle portions13are coupled in two positions to the fundamental body portion6. When the whole posture is initialized based on the mechanical origin, the center of gravity G of the whole robot is located between two vertical planes containing the two positions. In the initialization, a first joint portion7, a second joint portion8, and a third joint portion9are located between the two vertical planes. Thus, because the whole balance is taken, the origin adjustment is easy.

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