WO2009060634A1 - Foot mechanism for multileg walking type moving device - Google Patents

Foot mechanism for multileg walking type moving device Download PDF

Info

Publication number
WO2009060634A1
WO2009060634A1 PCT/JP2008/055737 JP2008055737W WO2009060634A1 WO 2009060634 A1 WO2009060634 A1 WO 2009060634A1 JP 2008055737 W JP2008055737 W JP 2008055737W WO 2009060634 A1 WO2009060634 A1 WO 2009060634A1
Authority
WO
WIPO (PCT)
Prior art keywords
reaction force
moving device
contact points
floor reaction
type moving
Prior art date
Application number
PCT/JP2008/055737
Other languages
French (fr)
Japanese (ja)
Inventor
Katsuya Kanaoka
Original Assignee
The Ritsumeikan Trust
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 The Ritsumeikan Trust filed Critical The Ritsumeikan Trust
Publication of WO2009060634A1 publication Critical patent/WO2009060634A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

A simple foot mechanism for a multi-leg walking type moving device in which the area of a supporting polygon can be secured even on an unleveled ground and floor reaction force information necessary and sufficient for controlling standing balance can be obtained. The foot mechanism (1) installed to the lower end of a leg unit in the multi-leg walking type moving device to be grounded comprises a base member (2) installed at the tip of the leg unit, supporting members (31, 32, 33) which are fixed to the base member (2), have three ground contact points (31e, 32e, 33e) not arranged on one straight line and contact the ground with only the ground contact points, and floor reaction force detectors (31c, 32c, 33c) which are provided at the supporting members (31, 32, 33) to respectively detect floor reaction force at the ground contact points (31e, 32e, 33e) and which detect only the floor reaction force acting in the normal line direction of a first virtual foot bottom plane (P1) including all the ground contact points (31e, 32e, 33e).
PCT/JP2008/055737 2007-11-06 2008-03-26 Foot mechanism for multileg walking type moving device WO2009060634A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007288103A JP5322147B2 (en) 2007-11-06 2007-11-06 Foot mechanism of multi-legged walking device
JP2007-288103 2007-11-06

Publications (1)

Publication Number Publication Date
WO2009060634A1 true WO2009060634A1 (en) 2009-05-14

Family

ID=40625540

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/055737 WO2009060634A1 (en) 2007-11-06 2008-03-26 Foot mechanism for multileg walking type moving device

Country Status (2)

Country Link
JP (1) JP5322147B2 (en)
WO (1) WO2009060634A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8544853B2 (en) 2009-03-05 2013-10-01 Muscle Corporation Two-legged walking transportation device
CN111267993A (en) * 2020-01-19 2020-06-12 之江实验室 Foot structure of biped robot and all-terrain pavement adaptation method thereof
CN112894773A (en) * 2021-01-27 2021-06-04 之江实验室 Three-dimensional structure foot of robot

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009128125A1 (en) * 2008-04-14 2009-10-22 学校法人立命館 Leg mechanism of multiple leg walking transfer equipment
JP5659898B2 (en) * 2011-03-22 2015-01-28 トヨタ自動車株式会社 Legged robot, its control method, and control program
KR101262978B1 (en) * 2011-12-05 2013-05-08 현대자동차주식회사 Module and method for measuring repulsive force for walking robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06135358A (en) * 1992-10-29 1994-05-17 Mitsubishi Heavy Ind Ltd Foot step-on mechanism for rough terrain walking type conveying machine
JP2003205481A (en) * 2001-12-28 2003-07-22 Honda Motor Co Ltd Leg type mobile robot and its floor reaction force detector
JP2003236782A (en) * 2002-02-18 2003-08-26 Japan Science & Technology Corp Bipedal movement device and walking control device for the device
JP2004351551A (en) * 2003-05-28 2004-12-16 Seiko Epson Corp Device and method for controlling robot
JP2005034965A (en) * 2003-07-17 2005-02-10 National Institute Of Advanced Industrial & Technology Operation force generator
JP2005074620A (en) * 2003-08-29 2005-03-24 Samsung Electronics Co Ltd Walking robot using simple ground reaction force sensor, and its control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06135358A (en) * 1992-10-29 1994-05-17 Mitsubishi Heavy Ind Ltd Foot step-on mechanism for rough terrain walking type conveying machine
JP2003205481A (en) * 2001-12-28 2003-07-22 Honda Motor Co Ltd Leg type mobile robot and its floor reaction force detector
JP2003236782A (en) * 2002-02-18 2003-08-26 Japan Science & Technology Corp Bipedal movement device and walking control device for the device
JP2004351551A (en) * 2003-05-28 2004-12-16 Seiko Epson Corp Device and method for controlling robot
JP2005034965A (en) * 2003-07-17 2005-02-10 National Institute Of Advanced Industrial & Technology Operation force generator
JP2005074620A (en) * 2003-08-29 2005-03-24 Samsung Electronics Co Ltd Walking robot using simple ground reaction force sensor, and its control method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8544853B2 (en) 2009-03-05 2013-10-01 Muscle Corporation Two-legged walking transportation device
CN111267993A (en) * 2020-01-19 2020-06-12 之江实验室 Foot structure of biped robot and all-terrain pavement adaptation method thereof
CN111267993B (en) * 2020-01-19 2021-04-27 之江实验室 Foot structure of biped robot and all-terrain pavement adaptation method thereof
CN112894773A (en) * 2021-01-27 2021-06-04 之江实验室 Three-dimensional structure foot of robot
CN112894773B (en) * 2021-01-27 2022-03-18 之江实验室 Three-dimensional structure foot of robot

Also Published As

Publication number Publication date
JP5322147B2 (en) 2013-10-23
JP2009113146A (en) 2009-05-28

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