Legged mobile robot and a system for controlling the same
First Claim
1. In a legged mobile robot of the type having a body and a plurality of legs each connected to the body the improvement comprising:
- an impact absorption mechanism between the body and legs oriented to allow the body and the individual legs to be displaceable with respect to each other in the gravitational direction, for absorbing external forces acting on the body or the individual legs, the impact absorption mechanism comprising;
an elastic member interposed between a portion of the body and a portion of each leg;
a fastener extending through the elastic member and connecting the portion of the body and the portion of each leg; and
a shaft encircling the fastener to limit movement of the fastener to vertical movement.
1 Assignment
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Accused Products
Abstract
A legged mobile robot having a body and two legs each connected to the body. The robot is quipped with a mechanism for absorbing and moderating impacts produced by external forces during footfall or the like. The mechanism includes an elastic member interposed between the body and legs, or interposed between the leg links, or interposed between the distal end of the legs and foot portions. The robot further has a foot structure for enhancing the ground gripping force and absorbs the impacts. For enhancing the gripping force, the foot sole is provided, for example, with a first elastic member and second elastic member sandwiching a plate spring therebetween. The first elastic member absorbs the impacts, while the second elastic member enhancing the gripping force. The plate spring restrict the deformation of the elastic members in the direction vertical to the foot sole. The invention further includes a locomotion control system using one shock absorbing mechanism.
136 Citations
42 Claims
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1. In a legged mobile robot of the type having a body and a plurality of legs each connected to the body the improvement comprising:
an impact absorption mechanism between the body and legs oriented to allow the body and the individual legs to be displaceable with respect to each other in the gravitational direction, for absorbing external forces acting on the body or the individual legs, the impact absorption mechanism comprising; an elastic member interposed between a portion of the body and a portion of each leg; a fastener extending through the elastic member and connecting the portion of the body and the portion of each leg; and a shaft encircling the fastener to limit movement of the fastener to vertical movement. - View Dependent Claims (2)
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3. In a legged mobile robot having a plurality of articulated legs each having a joint connecting a first link to a second link, the improvement comprising:
an impact absorption mechanism at the joint and including an elastic member, for absorbing external forces acting between the first link and the second link with the joint including; a motor mounted on the first link; a drive having an input connected to an output shaft of the motor and an output connected to the second link wherein the impact absorption mechanism further comprises; a pin interposed between the output of the drive and the second link; a member having a hole for receiving the pin; and the elastic member positioned in the hole and contacting at least one side of the pin. - View Dependent Claims (4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. In a legged mobile robot of the type having a plurality of legs each having a foot, the improvement comprising:
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an impact absorption mechanism on the foot comprising; a cylinder mounted on a sole of the foot and forming a chamber; a piston slidably movable in the cylinder; fluid in the chamber; a piston rod having a ground contact member, the piston rod movable into the cylinder against the resistance of the fluid to absorb impact acting on the robot when the foot lands on the ground; and means for restricting the direction in which the piston moves.
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14. In a legged mobile robot of the type having a plurality of legs with each leg having a foot, the improvement comprising:
an impact absorption mechanism connecting each leg and foot, and including an elastic member to allow the leg and the foot to be displaceable with respect to each other in response to a moment or force to absorb impact acting when the foot lands on the ground, the impact absorption mechanism comprising an outer member mounted on the foot;
an inner member within the outer member and connected to a distal end of each leg; and
the elastic member placed between the outer member and the inner member.- View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. In a legged mobile robot of the type having a plurality of legs with each leg having a foot, the improvement comprising:
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an elastic member attached to a sole of the foot for absorbing impact generated when the foot portion lands on the ground; and a plate spring between and separating the sole and the elastic member, and underlying substantially the entire sole for restricting the deformation of the elastic member with the plate spring rigidly attached to the sole. - View Dependent Claims (25, 26)
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27. In a legged mobile robot of the type having a plurality of legs with each leg having a foot, the improvement comprising:
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an elastic member attached to a sole of the foot for absorbing impact; and a spring dampener mechanism positioned between the sole and the elastic member for restricting deformation of the elastic member, the spring dampener mechanism comprising; a cylinder mounted on the foot portion and forming a chamber; a piston slidably movable in the cylinder; a fluid in the chamber; a spring disposed in the chamber to urge the piston out of the cylinder; and a piston rod having a distal end connected to the elastic member.
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28. In a legged robot of the type having a plurality of legs, with each leg having a foot, the improvement comprising:
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a foot having a first section narrower than a second section of the foot; and means for widening the first section, including at least one flap section pivotally attached to the foot. - View Dependent Claims (29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A system for controlling locomotion of a legged mobile robot having a plurality of articulated legs each having a foot portion at its distal end and at least one joint adjacent thereto;
- comprising;
an impact absorption mechanism including an elastic member for connecting the distal end of each leg and the foot portion and allowing the leg and the foot portion to be displaceable with respect to each other; servo motor means provided at the joint; first means for providing a control value to the servo motor means for driving the joint to a target angle; second means for detecting moment or force acting on the legs; and control means for correcting the control value in response to the detected moment or force to impart compliance to the leg. - View Dependent Claims (42)
- comprising;
Specification