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AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorsToru Takenaka, Hiroshi Gomi, Satoshi Shigemi, Takashi Matsumoto
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In a legged mobile robot (1), an elastic member (382) is installed at a position between a second joint (18, 20) connecting a distal end of a leg (2) and a foot (22) and a floor contact end of the foot, and a displacement sensor (70) is installed in a space defined by a top-to-bottom height of the elastic member. With this, it becomes possible to make the displacement sensor including its components such as the converter or the like compact enough to be housed in the elastic member at the limited space of the foot of the legged mobile robot. Further, it is arranged to self-diagnose abnormality of the displacement sensor by utilizing the redundancy of freedom, and also to detect the floor reaction force accurately such that the legged mobile robot can be controlled to walk more stably.
A legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and each having a foot connected to a distal end of the leg through a second joint, comprising:
A legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and each having a foot connected to a distal end of the leg through a second joint, comprising:
A floor reaction force detection system of a legged mobile robot having at least a body and a plurality of legs each connected to the body through a first joint and each having a foot connected to a distal end of the leg through a second joint, comprising:
Dependencies are inferred from the claim text.