Legged mobile robot
AssigneeHonda Motor Co., Ltd.
InventorsSusumu Miyazaki, Tomoko Otani
Life of this patent
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Abstract
In a legged mobile robot (10) having a motor (42) that rotates the ankle joint (26R (26L)) about a right-and-left axis of the robot (26RY (26LY)) and a speed reducer (58) that reduces speed of an output of the motor, wherein the motor is disposed at a same position as the knee joint (22R (22L)) or at the thigh link (16R (16L)) such that the speed reducer is disposed at the shank link. With this, it becomes possible to reduce the weight of the distal end of the leg (12R (12L)) can be reduced, whereby enabling to reduce the inertial force generated in the leg during movement or locomotion of the robot.
Claims18
A legged mobile robot having a leg including a knee joint that connects a thigh link and a shank link and an ankle joint that connects the shank link and a foot, such that it moves by driving the leg, comprising:
- a motor that rotates the ankle joint about a right-and-left axis of the robot, and
- a speed reducer that reduces speed of an output of the motor,
- wherein the motor is disposed at a same position as the knee joint or at the thigh link such that the speed reducer is disposed at the shank link, and
- wherein rotating the ankle joint comprises producing a change in the relative position and/or angle between the foot and the shank link.
A legged mobile robot having a leg including a knee joint that connects a thigh link and a shank link and an ankle joint that connects the shank link and a foot, such that it moves by driving the leg, comprising:
- a first motor that rotates the ankle joint about a right-and-left axis of the robot, and
- a second motor that rotates the ankle joint about a back-and-forth axis of the robot,
- wherein the first and second motors are disposed at the thigh link such that an output of the first motor is transmitted to the right-and-left axis of the ankle joint through a first intermediate shaft disposed on a same axis as the ankle joint, while an output of second motor is transmitted to the back-and-forth axis of the ankle joint through a second intermediate shaft disposed on the same axis as the ankle joint.
A legged mobile robot having a leg including a knee joint that connects a thigh link and a shank link and an ankle joint that connects the shank link and a foot, such that it moves by driving the leg, comprising:
- a first motor that rotates the ankle joint about a right-and-left axis of the robot, and
- a second motor that rotates the ankle joint about a back-and-forth axis of the robot,
- wherein the first motor is disposed at a same position as the knee joint or at the thigh link in such a manner that the first motor is disposed at the thigh link at a position that is farther away from the knee joint than the second motor.
Dependencies are inferred from the claim text.