JPS6447686A - Walking machine - Google Patents
Walking machineInfo
- Publication number
- JPS6447686A JPS6447686A JP62202626A JP20262687A JPS6447686A JP S6447686 A JPS6447686 A JP S6447686A JP 62202626 A JP62202626 A JP 62202626A JP 20262687 A JP20262687 A JP 20262687A JP S6447686 A JPS6447686 A JP S6447686A
- Authority
- JP
- Japan
- Prior art keywords
- pairs
- leg
- foot
- walking machine
- center
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
PURPOSE:To enable a device to move horizontally with constant speed by forming the bottom surface of a foot of a walking machine of a curved surface having the radius corresponding to a distance between the foot bottom and the drive center of a erected leg. CONSTITUTION:A walking machine is provided on the lower portion of a shell 1 with four legs 2 which are constituted respectively from thigh joints 3, lower leg joints 4, feet 5, pairs of clothes 6 for swinging left, right, back, forth legs pairs of knees 7 and pairs of ankles 8. The leg is driven through a reduction gear 11 by a motor 10 for driving the pairs. Also, the bottom surface of foot is formed of a spherical surface having a radius of distance between the bottom surface and the center of pair of thigh 6 corresponding to the center of driving the erected leg.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62202626A JPS6447686A (en) | 1987-08-15 | 1987-08-15 | Walking machine |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP62202626A JPS6447686A (en) | 1987-08-15 | 1987-08-15 | Walking machine |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS6447686A true JPS6447686A (en) | 1989-02-22 |
JPH0416314B2 JPH0416314B2 (en) | 1992-03-23 |
Family
ID=16460472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP62202626A Granted JPS6447686A (en) | 1987-08-15 | 1987-08-15 | Walking machine |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS6447686A (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH03184782A (en) * | 1989-12-14 | 1991-08-12 | Honda Motor Co Ltd | Joint structure for leg type walking robot |
US5151859A (en) * | 1989-06-29 | 1992-09-29 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot and system for controlling the same |
US5255753A (en) * | 1989-12-14 | 1993-10-26 | Honda Giken Kogyo Kabushiki Kaisha | Foot structure for legged walking robot |
JPH071367A (en) * | 1993-06-12 | 1995-01-06 | Yotaro Hatamura | Walking actuator |
JP2007245346A (en) * | 2007-07-06 | 2007-09-27 | Honda Motor Co Ltd | Leg type mobile robot |
CN101830252A (en) * | 2010-04-21 | 2010-09-15 | 北京交通大学 | Deformable two-foot walking machine |
CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
CN104526700A (en) * | 2014-12-26 | 2015-04-22 | 湖北工业大学 | Novel gear train walking robot |
CN106542018A (en) * | 2017-01-19 | 2017-03-29 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical metatarsophalangeal joints |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5957683A (en) * | 1982-09-27 | 1984-04-03 | 高橋 均 | Walking robot |
JPS60167796A (en) * | 1984-02-03 | 1985-08-31 | 株式会社東芝 | Joint |
JPS60209371A (en) * | 1984-04-03 | 1985-10-21 | Hitoshi Takahashi | Walking robot |
-
1987
- 1987-08-15 JP JP62202626A patent/JPS6447686A/en active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5957683A (en) * | 1982-09-27 | 1984-04-03 | 高橋 均 | Walking robot |
JPS60167796A (en) * | 1984-02-03 | 1985-08-31 | 株式会社東芝 | Joint |
JPS60209371A (en) * | 1984-04-03 | 1985-10-21 | Hitoshi Takahashi | Walking robot |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5151859A (en) * | 1989-06-29 | 1992-09-29 | Honda Giken Kogyo Kabushiki Kaisha | Legged walking robot and system for controlling the same |
JPH03184782A (en) * | 1989-12-14 | 1991-08-12 | Honda Motor Co Ltd | Joint structure for leg type walking robot |
US5159988A (en) * | 1989-12-14 | 1992-11-03 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
US5255753A (en) * | 1989-12-14 | 1993-10-26 | Honda Giken Kogyo Kabushiki Kaisha | Foot structure for legged walking robot |
EP0791439A2 (en) * | 1989-12-14 | 1997-08-27 | Honda Giken Kogyo Kabushiki Kaisha | Articulated structure for legged walking robot |
JPH071367A (en) * | 1993-06-12 | 1995-01-06 | Yotaro Hatamura | Walking actuator |
JP2007245346A (en) * | 2007-07-06 | 2007-09-27 | Honda Motor Co Ltd | Leg type mobile robot |
CN101830252A (en) * | 2010-04-21 | 2010-09-15 | 北京交通大学 | Deformable two-foot walking machine |
CN104071250A (en) * | 2014-07-10 | 2014-10-01 | 武汉大学 | Modular ten-freedom-degree biped walking robot |
CN104526700A (en) * | 2014-12-26 | 2015-04-22 | 湖北工业大学 | Novel gear train walking robot |
CN106542018A (en) * | 2017-01-19 | 2017-03-29 | 吉林大学 | A kind of semi-passive double feet walking machine with bionical metatarsophalangeal joints |
Also Published As
Publication number | Publication date |
---|---|
JPH0416314B2 (en) | 1992-03-23 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
EXPY | Cancellation because of completion of term |