Legged robot

• US 20040032233A1
• Filed: 05/16/2003
• Published: 02/19/2004
• Est. Priority Date: 11/17/2000
• Status: Active Grant

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Takahashi, Hideaki, Miyazaki, Susumu
• Granted Patent: US 6,897,631 B2
• Time in Patent Office: Days
• US Class Current: 318/568.12
• CPC Class Codes: B25J 17/0241 One-dimensional joints
• CPC Class Codes: B25J 9/126 Rotary actuators

Abstract

A legged robot, wherein an electric motor 88 for driving a joint 10R connecting a body and each leg 2R is disposed on the leg side and is disposed with an offset from the rotation axis of the joint. Further, a motor attachment member 86 for housing the electric motor 88 is perforated with an opening part at a location facing the body. By this, attachment/detachment of the leg of the robot is made easy to improve its ease of maintenance. Further, the power transmission means for transmitting drive force from the drive source to the joint connecting the body and the leg can be readily accessed. In addition, the leg can be rotated to a desired angle to facilitate swing operation and the like.

Claims

1. A legged robot having at least a body and a plurality of legs each connected rotatably to the body through a joint, characterized in that:

a drive sources for driving the joint is disposed on each leg.

2. A legged robot according to claim 1, wherein the drive source is disposed with an offset from a rotation axis of the joint and is connected to the joint through power transmission means.

3. A legged robot according to claim 1 or 2, wherein the drive source is covered with a case and the case is perforated with an opening at a location where the case faces the body.

4. A biped robot having at least a body and two legs each connected rotatably to the body through a joint, characterized in that:

a drive source for driving the joint is disposed at an outer side of each leg with an offset from a rotation axis of the joint, thereby preventing interference during relative displacement of the two legs.