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:
Jan. 31, 2006
Filed:
Feb. 14, 2003
Keisuke Kato, Tokyo, JP;
Goushi Koike, Tokyo, JP;
Susumu Tosaka, Tokyo, JP;
Hiroaki Morikawa, Kanagawa, JP;
Jinichi Yamaguchi, Hino-shi, Tokyo 191-0062, JP;
Kenichiro Nagasaka, Tokyo, JP;
Masakuni Nagano, Chiba, JP;
Keisuke Kato, Tokyo, JP;
Goushi Koike, Tokyo, JP;
Susumu Tosaka, Tokyo, JP;
Hiroaki Morikawa, Kanagawa, JP;
Jinichi Yamaguchi, Hino-shi, Tokyo 191-0062, JP;
Kenichiro Nagasaka, Tokyo, JP;
Masakuni Nagano, Chiba, JP;
Sony Corporation, Tokyo, JP;
Other;
Abstract
In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.