Robot apparatus and method for controlling jumping of robot device
First Claim
1. A robot apparatus in which a leg part including a link mechanism connected to an elastic member is rotationally mounted to a trunk part through driving means, whereinsaid elastic member is mounted so that a substantially linear relation holds between the distance between said driving means and the distal end of the leg part and a force virtually operating between said driving means and the distal end of the leg part.
3 Assignments
0 Petitions
Accused Products
Abstract
A robot apparatus that is able to perform jumping. In a leg structure 110 of the robot apparatus, connecting bars 113, 114 and pivots 112a to 112d constitute a four-point link mechanism. A rod 117 is inserted into an opening formed in the distal end of a leg part 116. A coil spring 118 as an elastic member is provided between one end of the rod 117 and the distal end of the leg part 116. A bar member 120 is connected and secured to a preset point of a connecting member 115 as a knee joint. The coil spring 118 is extended/contracted by the stretching/contraction of the connecting member 115. By the operation of the four-point link mechanism, the trajectory of the distal end of the leg part is linear. The coil spring 118 is mounted at a position such that the distance between a driving shaft 101 and the distal end of the bar member 120 has a substantially linear relationship with respect to the force virtually operating between a driving shaft 101 and the distal end of the bar member 120.
84 Citations
19 Claims
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1. A robot apparatus in which a leg part including a link mechanism connected to an elastic member is rotationally mounted to a trunk part through driving means, wherein
said elastic member is mounted so that a substantially linear relation holds between the distance between said driving means and the distal end of the leg part and a force virtually operating between said driving means and the distal end of the leg part.
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7. A robot apparatus having at least one pair of leg parts provided protruding from a main body portion;
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at least one pair of the leg parts transfer from a stance state with the distal ends of the leg parts touching the ground to a flight state with said distal ends floating in air after lapse of a preset time, by way of performing jumping. - View Dependent Claims (8, 9, 10, 11, 12, 13)
a pair of front leg parts and a air of back leg parts;
whereinat least one of said front and back leg parts transfer from a stance state with the distal ends of the leg parts touching the ground to a flight state with said distal ends floating in air after lapse of a preset time.
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9. The robot apparatus according to claim 8 comprising:
a contact sensor for contact detection, said contact sensor being provided at the distal ends of said front and back leg parts.
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10. The robot apparatus according to claim 8 wherein
the jumping can be switched by changing the touchdown angle and the delay time of said at least one leg part. -
11. The robot apparatus according to claim 10 wherein
said jumping mode at least includes a pronking of jumping with both said front and back legs touching the ground and jumping substantially simultaneously and a bounding mode of jumping with said front and back leg parts alternately touching the ground. -
12. The robot apparatus according to claim 7 wherein
said leg part includes a link mechanism connected to an elastic member and is rotationally connected to a trunk part through driving means, wherein said elastic member is mounted so that a substantially linear relation holds between the distance between said driving means and the distal end of the leg part and a force virtually operating between said driving means and the distal end of the leg part. -
13. The robot apparatus according to claim 12 wherein said link mechanism includes a first connecting bar having one end rotationally connected to a rotational member rotated by said driving means, said first connecting bar having another end rotationally connected to a connecting member, said link mechanism also including a second connecting bar having one end rotationally connected to said rotational member and another end rotationally connected to said connecting member, to form a four-point link mechanism;
said four-point link mechanism being formed to provide for a linear trajectory of the distal end of said leg part.
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14. Apparatus for controlling the jumping of a robot apparatus in which a leg part is coupled to a trunk part, comprising a link mechanism connected to an elastic member and rotationally mounted to said trunk part through driving means,
said elastic member being mounted so that a substantially linear relation holds between the distance between said driving means and the distal end of the leg part and a force virtually operating between said driving means and the distal end of the leg part.
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16. A method for controlling the jumping of a robot apparatus having at least one pair of leg parts protruding from a main body portion, comprising:
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a delaying step for providing a delay of a preset time from a stance state with said at least one pair of leg parts touching the ground; and
a step of transferring to a flight state with said at least one pair of legs floating in air after lapse of said delay;
transferring being made sequentially from said stance state through said delaying step to said flight state to perform jumping. - View Dependent Claims (17, 18, 19)
the robot apparatus includes a pair of front leg parts and a pair of back leg parts. -
18. The method of claim 17 further comprising the step of changing a touchdown angle and the delay time of said at least one leg part to switch the jumping of said robot apparatus.
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19. The method of claim 18 wherein
said jumping mode at least includes a pronking mode of jumping with both said front and back legs touching the ground and jumping substantially simultaneously and a bounding mode of jumping with said front and back leg parts alternately touching the ground.
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Specification