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:
Mar. 08, 2011
Filed:
Jul. 25, 2005
Toru Takenaka, Saitama, JP;
Keizo Matsumoto, Saitama, JP;
Hiroshi Gomi, Saitama, JP;
Kazushi Hamaya, Saitama, JP;
Toru Takenaka, Saitama, JP;
Keizo Matsumoto, Saitama, JP;
Hiroshi Gomi, Saitama, JP;
Kazushi Hamaya, Saitama, JP;
Honda Motor Co., Ltd., Minato-Ku, Tokyo, JP;
Abstract
A leg type mobile robot, in which a downsizing and wait-saving of floor reaction force detector to be installed on the foot is enabled. The center Pb of the force sensor is disposed on the position Pa where the distance to the remotest position of ground area provided on the bottom of each plate spring part Sto Sis minimum in the standing-still state of the robot R, and the distance L, L, L, and Lto the remotest point of the ground area of each plate spring part S, S, S, and Sis equal. The center Pc of the ankle joint is offset in a rearward direction with respect to the position Pa in a plane view.