Device for absorbing floor-landing shock for legged mobile robot

Abstract

A landing shock absorbing deviceprovided in a foot mechanismof a leg of a robot comprises an inflatable and compressible bag-like member(a variable capacity element) on a bottom face side of the foot mechanism. The bag-like memberis constructed of an elastic material such as rubber. Air in the atmosphere can flow into and out of the bag-like memberby inflow/outflow meansprovided with a solenoid valveand the like. In a landing state of the foot mechanismand in a state immediately after the foot mechanism shifts from the landing state to a lifting state, the solenoid valveis closed to maintain the bag-like memberin a compressed state. Furthermore, during the bag-like memberin the inflating state during the lifting state of the foot mechanism, by controlling timing when the solenoid valveis switched from a valve opening state to a valve closing state, a height of the bag-like memberin a compression direction is controlled to be a height suitable for a gait type of the robot. Thereby, posture stability of the robot can be secured easily while reducing a impact load in the landing motion of the leg of the legged mobile robot, and further, a lightweight configuration can be achieved.