JPS6447686A - Walking machine - Google Patents

Walking machine

Info

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
Application number
JP62202626A
Other languages
Japanese (ja)
Other versions
JPH0416314B2 (en
Inventor
Toshiyuki Tatsumi
Yutaka Nakano
Keiji Tanaka
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.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
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 Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP62202626A priority Critical patent/JPS6447686A/en
Publication of JPS6447686A publication Critical patent/JPS6447686A/en
Publication of JPH0416314B2 publication Critical patent/JPH0416314B2/ja
Granted legal-status Critical Current

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.
JP62202626A 1987-08-15 1987-08-15 Walking machine Granted JPS6447686A (en)

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)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (3)

* Cited by examiner, † Cited by third party
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)

* Cited by examiner, † Cited by third party
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