Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-04-19
1995-10-03
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 31856822, 901 1, 180 81, 180 86, 395 95, B25J 1100, G05B 1900
Patent
active
054554977
ABSTRACT:
A legged mobile robot having a body and two legs each connected to the body. The robot is quipped with a mechanism for absorbing and moderating impacts produced by external forces during footfall or the like. The mechanism includes an elastic member interposed between the body and legs, or interposed between the leg links, or interposed between the distal end of the legs and foot portions. The robot further has a foot structure for enhancing the ground gripping force and absorbs the impacts. For enhancing the gripping force, the foot sole is provided, for example, with a first elastic member and second elastic member sandwiching a plate spring therebetween. The first elastic member absorbs the impacts, while the second elastic member enhancing the gripping force. The plate spring restrict the deformation of the elastic members in the direction vertical to the foot sole. The invention further includes a locomotion control system using one shock absorbing mechanism.
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Gomi Hiroshi
Hirose Masato
Nishikawa Masao
Takahashi Hideaki
Takahashi Tadanobu
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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