Legged mobile robot
AssigneeHonda Motor Co., Ltd.
InventorsYoshinari Takemura, Tadaaki Hasegawa, Takafumi Fukushima
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Abstract
In a legged mobile robot, each hip joint that connects a body with a thigh link comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, and in addition thereto, a fourth rotary shaft that provides a redundant degree of freedom. Owing to this configuration, the amount of body bending and the movable range of the legs can be increased, thereby improving the degree of posture and gait freedom.
Claims14
A legged mobile robot equipped with legs each having a hip joint that connects a body with a thigh link, a knee joint that connects the thigh link with a shank link, and an ankle joint that connects the shank link with a foot to move by driving each leg,
- wherein each of the hip joint comprises a first rotary shaft that provides a degree of freedom to rotate about a yaw axis, a second rotary shaft that provides a degree of freedom to rotate about a roll axis, and a third rotary shaft that provides a degree of freedom to rotate about a pitch axis, a fourth rotary shaft that provides a redundant degree of freedom.
Dependencies are inferred from the claim text.