Kawada Industries, Inc.

Shigehiko Ohta

Takakatsu Isozumi

Toshikazu Kawasaki

An impact absorbing mechanism, provided to a footof an extremity of each of two movable legsof a bipedal walking robothaving the two movable legs, includes: an upper base plate-joined to a foot jointof each of the movable legs; a lower base platepositioned below the upper base plate, and being opposite to the upper base plate; and three elastic membersanisotropic in terms of elasticity, which are arranged at equal intervals in the circumferential direction about the yaw axis YA extending in a direction perpendicular to the upper base plate, between the upper base plateand the lower base plate, each of which allows the lower base plateto make elastic displacement relative to the upper base platein the same direction as axis YA extends, while each of which inhibits the lower base platefrom making elastic displacement relative to the upper base platein directions orthogonal to the yaw axis direction, and which join the upper base plateand the lower base plateelastically. This can simplify a calculation by a CPU concerning control of the walking of the walking robot. This can prevent disturbance, which would otherwise occur due to the friction resistance stemming from the physical interference by the rigid members. In addition, this can prevent the 6-axis force sensor from being broken, and can also prevent an equivalent to the breakage.

Growing community of inventors

Tokyo, Japan

Shigehiko Ohta