Legged robot

Details Legged robot Legged robot

2011-07-26

2011-07-26

Silbermann, Joanne (Department: 3611)

Motor vehicles

Special driving device

Stepper

C180S008200, C180S008300

Reexamination Certificate

active

07984775

ABSTRACT:
A legged robot that can ensure a large step length while keeping the height of a body trunk at a low position without increasing a moment that is generated due to the gravitational force acting on the trunk and acting on roll joints of legs when standing on one leg is realized. In the legged robot, a pair of legs is connected so as to be able to rotate around a pitch axis (Y-axis) at lateral surfaces of a trunk. Thereby, it is possible to make the height H1high while keeping the height of the trunk low. It is possible to ensure a large step length while keeping the height of the trunk at a low position. Legs have a structure in which roll joints are positioned below a bottom surface. Thereby, the length L1in the pitch axis direction between the rotation axis C1of these joints and the center of mass G of the trunk is limited. The moment acting on the roll joints of the grounding leg when standing on one leg is not increased.

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