LEG STRUCTURE OF LEGGED ROBOT

A legged mobile robot leg structure is provided in which a lower leg part i s connected to the lower end of an upper leg part through a knee joint, a foot part having a six-axis force sensor is connected to the lower end of the lower le g part through an ankle joint, and the ankle joint supports the...

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Bibliographic Details
Main Authors TAKAHASHI, HIDEAKI, MIYAZAKI, SUSUMU
Format Patent
LanguageEnglish
French
Published 29.04.2008
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Summary:A legged mobile robot leg structure is provided in which a lower leg part i s connected to the lower end of an upper leg part through a knee joint, a foot part having a six-axis force sensor is connected to the lower end of the lower le g part through an ankle joint, and the ankle joint supports the foot part so that t he foot part can pitch around a lateral axis and roll around a fore-and-aft axis relative to the lower leg part. A pitch motor for making the foot part pitch around the lateral axis is supported on the lower leg part at a position above the ankle joint, and a roll motor for making the foot part roll around the fore-and-aft axis is supporte d on the lower leg part at a position above the ankle joint. The driving force for driving the lower leg part can thereby be reduced by decreasing the moment of inertia around the knee joint, and the influence of noise of the motors on the six-axis for ce sensor provided on the foot part can be minimized.
Bibliography:Application Number: CA20012427571