Robot leg structure
AssigneeSony Group Corporation
InventorsYasuhisa Kamikawa, Kazuo Hongo, Atsushi Sakamoto, Yoshikazu Furuyama
Life of this patent
Estimating the term…
Abstract
Provided is a robot leg structure that includes a link extending downward from a leg joint, a ground contact portion that comes in contact with a ground, a leaf spring that couples the link and the ground contact portion to each other, and a damping member adjacent to the leaf spring and couples the link and the ground contact portion to each other. With this configuration, the damping member damps the vibration attributed to the leaf spring, making it possible to reliably stabilize the motion of the legs of a robot.
Claims16
A robot leg structure, comprising:
- a leg joint;
- a first link that extends downward from the leg joint;
- a ground contact portion configured to be in contact with a ground;
- an elastic member that couples the first link with the ground contact portion;
- a damping member adjacent to the elastic member, wherein the damping member couples the first link with the ground contact portion;
- and
- a stopper configured to avoid direct contact between the first link and the ground contact portion in a case where the elastic member is bent.
A robot leg structure, comprising:
- a leg joint;
- a first link that extends downward from the leg joint;
- a ground contact portion configured to be in contact with a ground;
- an elastic member that couples the first link with the ground contact portion;
- and
- a damping member adjacent to the elastic member, wherein
- the damping member couples the first link with the ground contact portion, and
- the damping member is configured to perform a damping operation based on friction.
A robot leg structure, comprising:
- a first link;
- a ground contact portion configured to be in contact with a ground;
- a leg joint that includes:
- a first joint connected to a first side of the first link that is opposite to a point of the first link coupled to the ground contact portion;
- a second link connected to the first link via the first joint, wherein the second link extends above the first joint;
- and
- a second joint connected to the second link at a second side opposite to a third side of the first joint, wherein
- the first joint is drivable by a series elastic actuator as a first drive source,
- the second joint includes a second drive source decelerated by a wave gear, and
- the first link extends downward from the leg joint;
- an elastic member that couples the first link with the ground contact portion, wherein
- the elastic member includes a leaf spring, and
- the leaf spring is configured to be curved by the ground contact portion based on the contact of the ground contact portion with the ground;
- and
- a damping member adjacent to the elastic member, wherein the damping member couples the first link with the ground contact portion.
Dependencies are inferred from the claim text.