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Device for absorbing floor-landing shock for legged mobile robot

  • US 20050077856A1
  • Filed: 12/11/2002
  • Published: 04/14/2005
  • Est. Priority Date: 12/25/2001
  • Status: Active Grant
First Claim
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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.

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