Device for absorbing floor-landing shock for legged mobile robot
First Claim
1. A landing shock absorbing device of a legged mobile robot moving by lifting and landing motions of a plurality of legs that can make contact with the ground through a ground-contacting face portion of a foot mechanism, respectively, comprising:
- a variable capacity element provided in the foot mechanism of each leg, each variable capacity element being compressed by undergoing a floor reaction force during the landing motion of an associated leg and being inflatable when no longer undergoing the floor reaction force at least by the lifting motion of the associated leg, thereby allowing fluid to flow into the variable capacity element with the inflation and to flow out of an interior portion of the variable capacity element with the compression thereof; and
an inflow/outflow means for communicating the fluid into the variable capacity element while inflating the variable capacity element in a lifting state of the associated leg and flowing communicating the fluid out of the variable capacity element with the compression of the variable capacity element caused by the floor reaction force, wherein outflow resistance is generated during the outflow of the fluid in the variable capacity element by the inflow/outflow means, the landing shock absorbing device comprising compressed state maintaining means for maintaining the variable capacity element in the compressed state in a period from after the variable capacity element is compressed at least by the landing motion of the associated leg until immediately after the associated leg enters the lifting state by the lifting motion thereof.
1 Assignment
0 Petitions
Accused Products
Abstract
A landing shock absorbing device 18 provided in a foot mechanism 6 of a leg of a robot comprises an inflatable and compressible bag-like member 19 (a variable capacity element) on a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like member 19 by inflow/outflow means 20 provided with a solenoid valve 27 and the like. In a landing state of the foot mechanism 6 and in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valve 27 is closed to maintain the bag-like member 19 in a compressed state. Furthermore, during the bag-like member 19 in the inflating state during the lifting state of the foot mechanism 6, by controlling timing when the solenoid valve 27 is switched from a valve opening state to a valve closing state, a height of the bag-like member 19 in a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.
-
Citations
11 Claims
-
1. A landing shock absorbing device of a legged mobile robot moving by lifting and landing motions of a plurality of legs that can make contact with the ground through a ground-contacting face portion of a foot mechanism, respectively, comprising:
-
a variable capacity element provided in the foot mechanism of each leg, each variable capacity element being compressed by undergoing a floor reaction force during the landing motion of an associated leg and being inflatable when no longer undergoing the floor reaction force at least by the lifting motion of the associated leg, thereby allowing fluid to flow into the variable capacity element with the inflation and to flow out of an interior portion of the variable capacity element with the compression thereof; and
an inflow/outflow means for communicating the fluid into the variable capacity element while inflating the variable capacity element in a lifting state of the associated leg and flowing communicating the fluid out of the variable capacity element with the compression of the variable capacity element caused by the floor reaction force, wherein outflow resistance is generated during the outflow of the fluid in the variable capacity element by the inflow/outflow means, the landing shock absorbing device comprising compressed state maintaining means for maintaining the variable capacity element in the compressed state in a period from after the variable capacity element is compressed at least by the landing motion of the associated leg until immediately after the associated leg enters the lifting state by the lifting motion thereof. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
Specification