Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2006-01-31
2006-01-31
Fletcher, Marlon T. (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568100, C318S568110, C700S023000, C901S001000
Reexamination Certificate
active
06992455
ABSTRACT:
In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
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Kato Keisuke
Koike Goushi
Morikawa Hiroaki
Nagano Masakuni
Nagasaka Kenichiro
Fletcher Marlon T.
Frommer William S.
Frommer & Lawrence & Haug LLP
Presson Thomas F.
Smith Tyrone
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