Legged mobile robot foot structure
First Claim
1. A legged mobile robot, comprising:
- a foot having a lower surface for contacting the ground;
a movable foot piece;
an actuator connected with the movable foot piece for driving the movable foot piece in a first direction to increase the lower surface area of the foot and in a second direction to decrease the lower surface area of the foot; and
a controller connected with the actuator for controlling the operation of the actuator.
1 Assignment
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Accused Products
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.
83 Citations
46 Claims
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1. A legged mobile robot, comprising:
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a foot having a lower surface for contacting the ground; a movable foot piece; an actuator connected with the movable foot piece for driving the movable foot piece in a first direction to increase the lower surface area of the foot and in a second direction to decrease the lower surface area of the foot; and a controller connected with the actuator for controlling the operation of the actuator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A legged mobile robot having at least one leg with a foot contacting the ground, comprising:
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a movable foot piece; an actuator connected with the movable foot piece for driving the movable foot into a first position at which a ratio between a first distance between one end of a surface of the foot contacting the ground and a point at which the foot is connected to the leg and a second distance between the opposite end of the surface and the point is enlarged, or into a second position at which the ratio is reduced; and a controller connected to the actuator for controlling the operation of the actuator. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 41)
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38. A legged mobile robot having at least one leg comprising:
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a foot connected to the leg and having a bottom surface for contacting the ground; a movable foot piece provided at an edge of the foot; an actuator connected with the movable foot piece for driving the movable foot piece within a range between a first position at which the movable foot piece contacts the ground and a second position at which the second portion does not contact the ground; and a controller connected with the actuator for controlling the operation of the actuator. - View Dependent Claims (39, 40, 42, 43, 44, 45, 46)
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Specification