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Legged mobile robot

  • US 7,492,115 B2
  • Filed: 08/07/2003
  • Issued: 02/17/2009
  • Est. Priority Date: 08/28/2002
  • Status: Active Grant
First Claim
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1. A legged mobile robot having a body, and a plurality of articulated legs each connected to the body such that it moves by driving each leg by an actuator associated therewith, comprising:

  • a first joint installed at each leg; and

    a second joint installed at each leg at a location below the first joint in the gravitational direction;

    wherein the actuator that drives the second joint is located at least one of a position same as that of the first joint and a position above the first joint in the gravitational direction, and at least one of an output shaft of the actuator that drives the second joint and an output shaft of a transmission element to which an output of the output shaft of the actuator is transmitted, is located coaxially with an axis of the first joint, and the second joint is connected to the output shaft located coaxially with the axis of the first joint to be driven through a rod.

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