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1. (JP2005034984) BIPEDAL WALKING ROBOT

Application Number: 2004163953 Application Date: 02.06.2004
Publication Number: 2005034984 Publication Date: 10.02.2005
Publication Kind : A
IPC:
A63H11/18
B25J13/00
B25J5/00
A HUMAN NECESSITIES
63
SPORTS; GAMES; AMUSEMENTS
H
TOYS, e.g. TOPS, DOLLS, HOOPS, BUILDING BLOCKS
11
Self-movable toy figures
18
Figure toys which perform a realistic walking motion
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13
Controls for manipulators
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5
Manipulators mounted on wheels or on carriages
Applicants: KANSAI TLO KK
関西ティー・エル・オー株式会社
Inventors: TAKAHASHI TOMOTAKA
高橋 智隆
Agents: 小林 良平
Priority Data: 2003270547 03.07.2003 JP
Title: (JA) 二足歩行ロボット
(EN) BIPEDAL WALKING ROBOT
Abstract:
(JA)

【課題】 膝を曲げた不自然な姿勢での歩行でなく、人間の一般的な歩行と同様の、着地している脚側で膝を伸ばした状態での歩行を実現する。
【解決手段】 左右の脚部2L、2Rでそれぞれ、股関節部3L(又は3R)におけるx軸周りの回転軸を足首関節部5L(又は5R)におけるx軸周りの回転軸よりも外方に配置し、それによって上下の回転軸を結ぶ軸線を鉛直方向に対して外方に傾ける。これにより、高さ方向の余裕度が生じ、胴体部1を前方に移動させる際にその高さをほぼ同一に維持することができ、前方側の脚部の膝を曲げずに単に左右に傾けるだけで、胴体部1(連結部11)が前方に移動したことによる股関節部3L(又は3R)と足首関節部5L(又は5R)との距離の短縮化を吸収することができる。その結果、膝関節部を曲げる必要がなく、人間の歩行動作に近い自然な歩容が達成される。
【選択図】 図1


(EN) PROBLEM TO BE SOLVED: To realize walking, which is not the walking with an unnatural posture bending a knee but which has the same posture as the general walking of a human being in which the knee is extended by a leg side at a landing.

SOLUTION: An axis connecting an upper rotary shaft section with a lower rotary shaft section is thereby leaned outside to a vertical direction by arranging a rotary shaft around an x axis in a hip joint section 3L (or 3R) outside the rotary shaft of the x axis in an ankle joint section 5L (or 5R) with a right and a left leg sections 2L, 2R respectively. Hereby, the degree of allowances in a height direction is generated, the height can be maintained almost identically when the body 1 is moved ahead by only leaning right and left without bending the knee of the leg section in the front side, the shortening of a distance between the hip joint section 3L (or 3R) and the ankle joint section 5L (or 5R) due to the fact that the body section 1 (joint section 11) is moved ahead can be absorbed. As a result, a natural walking posture near the walking action of the human being can be attained without the need of bending a knee joint section.

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