The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 14, 2023
Filed:
Oct. 19, 2020
Sony Interactive Entertainment Inc., Tokyo, JP;
Yuta Koda, Tokyo, JP;
Koichi Obana, Tokyo, JP;
SONY INTERACTIVE ENTERTAINMENT INC., Tokyo, JP;
Abstract
A configuration that exerts floor reaction force directly to a force sensor in a foot of a legged mobile robot requires a sensor having a large withstand load. A foot () includes an upper frame () that is connected to a movable leg and receives the load of a robot, a lower frame () that is deployed under the upper frame () and contacts with a walking surface, a high rigidity spring () attached the lower frame () and elastically supporting the upper frame () against the load, and a plurality of sensor mechanisms that detect floor reaction force at positions different from each other on the lower frame (). Each of the sensor mechanisms includes a force sensor () attached to one of the upper frame () and the lower frame () and a sensor spring () that is an elastic body having rigidity lower than that of the high rigidity spring () and has a supporting point deployed on the other one of the upper frame () and the lower frame () so as to exert pressing force to the force sensor () according to a change of the distance between the upper frame () and the lower frame ().