Legged mobile robot leg structure

Details Legged mobile robot leg structure Legged mobile robot leg structure

B - Operations, Transporting

25

J

B25J 5/02 (2006.01) B25J 13/08 (2006.01)

Patent

CA 2552315

A legged mobile robot leg structure is provided in which a lower leg part is connected to the lower end of an upper leg part through a knee joint, a foot part having a six-axis force sensor is connected to the lower end of the lower leg part through an ankle joint, and the ankle joint supports the foot part so that the foot part can pitch around a lateral axis and roll around a fore-and-aft axis relative to the lower leg part. In accordance with this arrangement, since the foot part is rollably supported via the roll mechanism on the pitch shaft supported on the lower leg part such that it can rotate around the lateral axis, and the pitch shaft is driven via the pitch belt transfer means for transferring the rotation of the output shaft of the pitch motor to the pitch shaft, rotating the pitch shaft can make the roll mechanism and the foot part pitch as a unit, and operating the roll mechanism can make the foot part roll relative to the pitch shaft, thereby preventing pitching and rolling of the foot part from interfering with each other.

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