Motor vehicles – Special driving device – Stepper
Patent
1992-05-19
1993-10-26
Hill, Mitchell J.
Motor vehicles
Special driving device
Stepper
36 28, 36 30R, 36 59A, 36139, 180 81, 200 865, 414 5, 623 53, 623 54, 623 55, 901 1, B62D 57032
Patent
active
052557537
ABSTRACT:
A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.
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JRSJ vol. 1, No. 3, Oct. 1983 "A Control Study of Dynamical Locomotion Robot--A Low Order Model And A High Hierarchial Control Strategy".
Abe Shoei
Gomi Hiroshi
Hirakawa Mitsuaki
Hirose Masato
Kumagai Tomoharu
Hill Mitchell J.
Honda Giken Kogyo Kabushiki Kaisha
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