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US 12,709,343 B2Granted
Quadrupedal walking robot
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsMasayuki Kamon, Tatsuhiko Kato, So Yukizaki
Life of this patent
Estimating the term…
Abstract
A quadrupedal walking robot includes: a main body including a seat portion on which a person is to sit astride; a handle to be gripped by the person seated on the seat portion; four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints; a plurality of actuators configured to drive the plurality of joints; an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot; and a controller configured to control the plurality of actuators in accordance with the command received from the operation device.
Claims21
A quadrupedal walking robot comprising:
- a main body including a seat portion on which a person is to sit astride;
- a handle to be gripped by the person seated on the seat portion;
- four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints;
- a plurality of actuators configured to drive the plurality of joints;
- an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot;
- and
- a controller configured to control the plurality of actuators in accordance with the command received from the operation device, wherein
- the main body includes a second portion located in a front direction with respect to the seat portion in the main body and higher than the seat portion in an up direction of the main body.
5 more elements
A quadrupedal walking robot comprising:
- a main body including a seat portion on which a person is to sit astride;
- a handle to be gripped by the person seated on the seat portion;
- four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints;
- a plurality of actuators configured to drive the plurality of joints;
- an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot;
- and
- a controller configured to control the plurality of actuators in accordance with the command received from the operation device, wherein
- the handle includes a bar to be gripped by the person seated on the seat portion, and
- the operation device includes either or both of a joystick and a key disposed on the bar.
6 more elements
A quadrupedal walking robot comprising:
- a main body including a seat portion on which a person is to sit astride;
- a handle to be gripped by the person seated on the seat portion;
- four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints;
- a plurality of actuators configured to drive the plurality of joints;
- an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot;
- and
- a controller configured to control the plurality of actuators in accordance with the command received from the operation device, wherein
- each of the four leg portions includes a proximal joint coupled to the main body and one or more intermediate joints disposed between the proximal joint and a tip of the leg portion,
- the proximal joint is configured to operate with two or more degrees of freedom,
- the intermediate joint is configured to operate with one or more degrees of freedom,
- each of the proximal joints of the four leg portions includes
- a first bent portion configured to be bent about a second axis extending in a direction intersecting a first axis extending in up and down directions in the main body, and
- a second bent portion configured to be bent about a third axis extending in a direction intersecting the first axis and the second axis, and
- the one or more intermediate joints of each of the four leg portions include a third bent portion configured to be bent to change an angle formed by portions on both sides of the intermediate joint in the leg portion.
11 more elements
A quadrupedal walking robot comprising:
- a main body including a seat portion on which a person is to sit astride;
- a handle to be gripped by the person seated on the seat portion;
- four leg portions coupled to the main body and configured to perform a bending operation, each of the four leg portions including two or more joints;
- a plurality of actuators configured to drive the plurality of joints;
- an operation device disposed on the handle and configured to receive an input of a command related to an operation of the quadrupedal walking robot;
- and
- a controller configured to control the plurality of actuators in accordance with the command received from the operation device, wherein
- in each of the four leg portions, the one or more joints between the joint coupled to the main body and a tip of the leg portion include a first wheel which is rotatable, and
- the first wheel is configured to come into contact with a support surface supporting the quadrupedal walking robot as the joint operates, thereby supporting the quadrupedal walking robot.
6 more elements
Dependencies are inferred from the claim text.