Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2005-11-22
2005-11-22
Fletcher, Marlon T. (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568100, C318S568110, C700S245000, C700S264000, C901S001000
Reexamination Certificate
active
06967456
ABSTRACT:
A landing shock absorbing device18provided in a foot mechanism6of a leg of a robot comprises an inflatable and compressible bag-like member19(a variable capacity element) on a bottom face side of the foot mechanism6. The bag-like member19is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member19by inflow/outflow means20provided with a solenoid valve27and the like. In a landing state of the foot mechanism6and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve27is closed to maintain the bag-like member19in a compressed state. Furthermore, during the bag-like member19in the inflating state during the lifting state of the foot mechanism6, by controlling timing when the solenoid valve27is switched from a valve opening state to a valve closing state, a height of the bag-like member19in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
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Yamaguchi, Jin'ichi et al., “Experimental Development of a Foot Mechanism with a Shock Absorbing Material for Acquisition of Landing Surface Position Information and Stabilization of Dynamic Biped Walking”, 1995, IEEE, pp. 2892-2899.
Akimoto Kazushi
Gomi Hiroshi
Hamaya Kazushi
Matsumoto Takashi
Nishimura Yoichi
Fletcher Marlon T.
Rankin, Hill Porter & Clark LLP
Smith Tyrone
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