JPS56154370A - Support compensation walking transport device - Google Patents

Support compensation walking transport device

Info

Publication number
JPS56154370A
JPS56154370A JP5588480A JP5588480A JPS56154370A JP S56154370 A JPS56154370 A JP S56154370A JP 5588480 A JP5588480 A JP 5588480A JP 5588480 A JP5588480 A JP 5588480A JP S56154370 A JPS56154370 A JP S56154370A
Authority
JP
Japan
Prior art keywords
links
walking
actuators
extensibly
protruded
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP5588480A
Other languages
Japanese (ja)
Inventor
Tadahiko Tsumura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to JP5588480A priority Critical patent/JPS56154370A/en
Publication of JPS56154370A publication Critical patent/JPS56154370A/en
Pending legal-status Critical Current

Links

Landscapes

  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE: To surely transport a load in a stable manner even for on the rugged ground, by providing an integrated control mechanism for performing overall control operation of walking motion in each unit.
CONSTITUTION: Walking legs 2, 2', in which top ends of the first links 5, 5' are pivotally supported to the first hinge 14 protruded from the lower face of a leg base board 3 and to the first hinge 14' protruded to the lower end of a leg base board shaft 1, are longitudinally swingably mounted by actuators of walking leg swinging motion operating means 10, 10'. Then to the second hinges 15, 15' at lower ends of the first links 5, 5' the second links 6, 6' are pivotally supported and longitudinally extensibly and foldably arranged by actuators of extensible and foldable means 11, 11'. Further the third links 7, 7' are internally slidably fitted to the second links 6, 6', and their lower end parts are extensibly arraged for the second links 6, 6' by actuators of extensible means 12, 12'. And walking movements of the units are controlled with a servo mechanism by an overall control mechanism mounted to a machine mount.
COPYRIGHT: (C)1981,JPO&Japio
JP5588480A 1980-04-25 1980-04-25 Support compensation walking transport device Pending JPS56154370A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP5588480A JPS56154370A (en) 1980-04-25 1980-04-25 Support compensation walking transport device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5588480A JPS56154370A (en) 1980-04-25 1980-04-25 Support compensation walking transport device

Publications (1)

Publication Number Publication Date
JPS56154370A true JPS56154370A (en) 1981-11-28

Family

ID=13011521

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5588480A Pending JPS56154370A (en) 1980-04-25 1980-04-25 Support compensation walking transport device

Country Status (1)

Country Link
JP (1) JPS56154370A (en)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58209667A (en) * 1982-05-31 1983-12-06 Hideo Saito Elevator for travelling along vertical wall
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
WO2013136151A1 (en) * 2012-03-14 2013-09-19 Borysikhin Sergiy Anatol Evich Method for implementing the functions of a movable support and device for carrying out said method
CN105216901A (en) * 2015-09-07 2016-01-06 郑州大学 A kind of four-degree-of-freedom leg mechanism in parallel of walking robot
CN105905189A (en) * 2016-06-25 2016-08-31 李玉婷 Six-legged robot
CN106005088A (en) * 2016-07-05 2016-10-12 熊克斌 Cart pulling robot
CN107651038A (en) * 2017-10-09 2018-02-02 倪晋挺 A kind of crank block rocker-type carrying robot
CN108216419A (en) * 2018-01-08 2018-06-29 吉林大学 A kind of foot formula walking robot leg structure
CN111284585A (en) * 2020-03-03 2020-06-16 广东博智林机器人有限公司 Walking leg assembly, walking device and walking robot
CN112141234A (en) * 2020-08-28 2020-12-29 诸暨市蓝了电子科技有限公司 Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot
JP2021511974A (en) * 2018-03-29 2021-05-13 トヨタ リサーチ インスティテュート，インコーポレイティド Systems and methods for autonomous cart robots

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58209667A (en) * 1982-05-31 1983-12-06 Hideo Saito Elevator for travelling along vertical wall
CN102285390A (en) * 2011-06-03 2011-12-21 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
WO2013136151A1 (en) * 2012-03-14 2013-09-19 Borysikhin Sergiy Anatol Evich Method for implementing the functions of a movable support and device for carrying out said method
CN105216901A (en) * 2015-09-07 2016-01-06 郑州大学 A kind of four-degree-of-freedom leg mechanism in parallel of walking robot
CN105905189A (en) * 2016-06-25 2016-08-31 李玉婷 Six-legged robot
CN106005088A (en) * 2016-07-05 2016-10-12 熊克斌 Cart pulling robot
CN107651038A (en) * 2017-10-09 2018-02-02 倪晋挺 A kind of crank block rocker-type carrying robot
CN108216419A (en) * 2018-01-08 2018-06-29 吉林大学 A kind of foot formula walking robot leg structure
CN108216419B (en) * 2018-01-08 2020-01-07 吉林大学 Leg structure of foot type walking robot
JP2021511974A (en) * 2018-03-29 2021-05-13 トヨタ リサーチ インスティテュート，インコーポレイティド Systems and methods for autonomous cart robots
JP2022082550A (en) * 2018-03-29 2022-06-02 トヨタ リサーチ インスティテュート，インコーポレイティド Systems and methods for autonomous cart robot
CN111284585A (en) * 2020-03-03 2020-06-16 广东博智林机器人有限公司 Walking leg assembly, walking device and walking robot
CN111284585B (en) * 2020-03-03 2021-05-25 广东博智林机器人有限公司 Walking leg assembly, walking device and walking robot
CN112141234A (en) * 2020-08-28 2020-12-29 诸暨市蓝了电子科技有限公司 Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot
CN112141234B (en) * 2020-08-28 2022-05-17 诸暨市蓝了电子科技有限公司 Foot swinging of multi-foot wheeled robot and multi-foot wheeled robot

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