In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.
LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT
BEINVORRICHTUNG FÜR BEWEGLICHEN ROBOTER MIT BEINEN UND VERFAHREN ZUR STEUERUNG DES MIT BEINEN VERSEHENEN BEWEGLICHEN ROBOTERS
DISPOSITIF A JAMBES POUR ROBOT MOBILE DE TYPE A JAMBES, ET PROCEDE DE COMMANDE DUDIT ROBOT
01.05.2019
Patent
Elektronische Ressource
Englisch