Legged mobile robot

Details Legged mobile robot Legged mobile robot

2004-05-18

2008-10-28

Morris, Lesley D. (Department: 3611)

Motor vehicles

Special driving device

Stepper

C180S008600, C180S008500, C901S001000, C901S048000

Reexamination Certificate

active

07441614

ABSTRACT:
In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.

REFERENCES:
patent: 6301524 (2001-10-01), Takenaka
patent: 6538410 (2003-03-01), Mori et al.
patent: 6802382 (2004-10-01), Hattori et al.
patent: 6969965 (2005-11-01), Takenaka et al.
patent: 6979969 (2005-12-01), Iribe et al.
patent: 7013201 (2006-03-01), Hattori et al.
patent: 7099747 (2006-08-01), Mikami et al.
patent: 7112938 (2006-09-01), Takenaka et al.
patent: 2592340 (1996-12-01), None
patent: 2001-62761 (2001-03-01), None
patent: 2001-150371 (2001-06-01), None

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