Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-05-20
1995-05-16
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856812, 3185681, 901 1, 395 80, 180 81, 180 86, G05B 1900
Patent
active
054163935
ABSTRACT:
A foot structure of a biped waling mobile robot having a body and two articulated legs each having a foot at its distal end. In the foot structure, a movable foot piece is housed in each foot which is driven by an actuator to be swung out to enlarge the ground contact surface. A controller provided for the actuator and based on a condition of walking such as stair descending, it controls the operation of the actuator such that the foot's ground contact surface is enlarged. The structure has another aspect in which a ratio between distances from a point at which the foot is connected to the leg to the foot ends can also be adjusted in response to the walking condition. Moreover, the foot can be arranged such that the foot is configured to have portions to be contact with the ground at its four corners and the movable foot pieces have additional contact portion enlarging or reducing the ground contact portions.
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"Body Building" By Wayne Harlow And Mark Ford, Creative Visual COmmunication 1982.
Gomi Hiroshi
Hirose Masato
Matsumoto Takashi
Nishikawa Masao
Takahashi Hideaki
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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