Legged mobile robot

Details Legged mobile robot Legged mobile robot

2006-09-26

2006-09-26

Morris, Lesley D. (Department: 3611)

Motor vehicles

Special driving device

Stepper

C180S008100, C180S008200, C180S008500, C180S008600, C901S001000, C074S490100, C074S490000

Reexamination Certificate

active

07111696

ABSTRACT:
In a legged mobile robot (10) having a motor (42) that rotates the ankle joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY)) and a speed reducer (58) that reduces speed of an output of the motor, wherein the motor is disposed at a same position as the knee joint (22R (22L)) or at the thigh link (16R (16L)) such that the speed reducer is disposed at the shank link. With this, it becomes possible to reduce the weight of the distal end of the leg (12R (12L)) can be reduced, whereby enabling to reduce the inertial force generated in the leg during movement or locomotion of the robot.

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