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US 2016/0096267 A1Published application
Mobile robot
AssigneeHonda Motor Co., Ltd.
InventorsHiroyuki Kaneko, Tomoki Watabe
Life of this patent
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Abstract
A mobile robot 1 has a lower base body 6 and an upper base body 7, which is relatively rotatable with respect to the lower base body 6. The robot 1 is configured to be capable of performing a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the front side of the lower base body 6, and a travel motion in which the robot 1 travels in a state wherein the front side of the upper base body 7 is oriented to face the same direction as the rear side of the lower base body 6. The middle portion of each of leg links 3 can be bended toward either the front side or the rear side of the lower base body 6.
Claims6
A mobile robot comprising:
- a base body assembly;
- a plurality of movable links including a plurality of leg links extended from the base body assembly;
- and
- a joint provided between a distal end portion of each of the movable links and the base body assembly such that each of the movable links can be moved with respect to the base body assembly,
- wherein the base body assembly is constituted of a lower base body from which the plurality of leg links are extended and an upper base body connected to the lower base body such that the upper base body is relatively rotatable about an axial center in the direction of a trunk axis with respect to the lower base body,
- the upper base body can be operated in a state in which a front side of the upper base body is oriented to face the same direction as a front side of the lower base body and in another state in which the front side of the upper base body is oriented to face the same direction as a rear side of the lower base body by a relative rotation about the axial center in the direction of the trunk axis,
- each of the leg links is configured to be bendable such that a middle portion between a distal end portion thereof and the lower base body juts out toward either the front side or the rear side of the lower base body,
- the mobile robot includes at least one of an external world condition observation instrument for observing an external world condition on the front side of the upper base body and an arm link as a movable link extended from the upper base body, and
- the mobile robot is configured to be capable of selectively performing a first travel motion, in which the mobile robot travels in the direction of a front side of the upper base body by a motion in which a distal end portion of each of the plurality of the leg links is lifted off and then landed following the lifting off in a state in which the front side of the upper base body is oriented to face the same direction as the front side of the lower base body, and a second travel motion, in which the mobile robot travels in the direction of the front side of the upper base body by a motion in which a distal end portion of each of the plurality of the leg links is lifted off and then landed following the lifting off in a state in which the front side of the upper base body is oriented to face the same direction as the rear side of the lower base body.
6 more elements
A mobile robot comprising:
- a base body assembly;
- a plurality of movable links including a plurality of leg links extended from the base body assembly;
- and
- a joint provided between a distal end portion of each of the movable links and the base body assembly such that each of the movable links can be moved with respect to the base body assembly,
- wherein the base body assembly is includes a lower base body from which the plurality of leg links are extended and an upper base body connected to the lower base body such that the upper base body is relatively rotatable about an axial center in the direction of a trunk axis with respect to the lower base body,
- the upper base body can be placed in a state in which a front side of the upper base body is oriented to face the same direction as a front side of the lower base body and a state in which the front side of the upper base body is oriented to face the same direction as a rear side of the lower base body by a relative rotation about the axial center in the direction of the trunk axis,
- each of the leg links is configured to be bendable such that a middle portion thereof between a distal end portion thereof and the lower base body juts out toward either the front side or the rear side of the lower base body,
- the mobile robot includes an arm link as a movable link extended from the upper base body, and
- the mobile robot is configured to be capable of selectively performing a third travel motion, in which the mobile robot travels by a motion in which a distal end portion of each of the plurality of the leg links and the arm link is lifted off and then landed on the front side of the upper base body following the lifting off in a state in which the front side of the upper base body is oriented to face the same direction as the front side of the lower base body, and a fourth travel motion, in which the mobile robot travels by a motion in which a distal end portion of each of the plurality of the leg links and the arm link is lifted off and then landed on the front side of the upper base body following the lifting off in a state in which the front side of the upper base body is oriented to face the same direction as the rear side of the lower base body.
6 more elements
Dependencies are inferred from the claim text.