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JP2007290054A5 - - Google Patents

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Publication number
JP2007290054A5
JP2007290054A5 JP2006118677A JP2006118677A JP2007290054A5 JP 2007290054 A5 JP2007290054 A5 JP 2007290054A5 JP 2006118677 A JP2006118677 A JP 2006118677A JP 2006118677 A JP2006118677 A JP 2006118677A JP 2007290054 A5 JP2007290054 A5 JP 2007290054A5
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JP
Japan
Prior art keywords
moving mechanism
biped
caster
wheel
leg
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Granted
Application number
JP2006118677A
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Japanese (ja)
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JP4797775B2 (en
JP2007290054A (en
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Publication date
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Priority to JP2006118677A priority Critical patent/JP4797775B2/en
Priority claimed from JP2006118677A external-priority patent/JP4797775B2/en
Priority to KR1020070039153A priority patent/KR100863028B1/en
Publication of JP2007290054A publication Critical patent/JP2007290054A/en
Publication of JP2007290054A5 publication Critical patent/JP2007290054A5/ja
Application granted granted Critical
Publication of JP4797775B2 publication Critical patent/JP4797775B2/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Claims (8)

第１脚アクチュエータと、第１脚リンクと、第２脚アクチュエータと、第２脚リンクとを有する左足及び右足と、を備え、前記第１脚リンク及び前記第２脚リンクを揺動することによって移動する２足型移動機構において、
被搬送物が載置され胴体アクチュエータの出力軸に取り付けられる第１胴体リンクと、
前記胴体アクチュエータを中央部に備え前記左足及び右足が取り付けられる第２胴体リンクと、
前記第２脚リンクの前記第１脚リンク側に取り付けられ方向が可変とされたキャスタと、
前記第２脚リンクの反前記第１脚リンク側に取り付けられた車輪と、
前記胴体アクチュエータで前記第１胴体リンクを揺動して左右方向の重心移動を行う制御手段と、を備えたことを特徴とする２足型移動機構。 A left leg and a right leg having a first leg actuator, a first leg link, a second leg actuator, and a second leg link, and swinging the first leg link and the second leg link In the moving biped type moving mechanism,
A first fuselage link on which an object to be conveyed is placed and attached to the output shaft of the fuselage actuator;
A second torso link provided with the torso actuator in the center and to which the left foot and the right foot are attached;
A caster attached to the first leg link side of the second leg link and having a variable direction;
Wheels attached to the first leg link side opposite to the second leg link;
And a control means for swinging the first body link with the body actuator to move the center of gravity in the left-right direction. 請求項１記載の２足型移動機構において、
前記キャスタ及び前記車輪を接地して移動を行うことを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
A biped type moving mechanism characterized in that the caster and the wheel are grounded to move. 請求項１記載の２足型移動機構において、
少なくとも前記左足及び右足のいずれかにおいて、前記キャスタ及び前記車輪を接地して移動を行うことを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
A biped type moving mechanism characterized in that at least one of the left foot and the right foot moves while grounding the caster and the wheel. 請求項１記載の２足型移動機構において、
前記左足及び右足のいずれかにおいて、
前記キャスタ及び前記車輪を接地し、前記胴体アクチュエータで前記第１胴体リンクを揺動して左右方向の重心移動を行いながら移動することを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
In either the left foot or the right foot,
A two-legged moving mechanism characterized in that the caster and the wheel are grounded, and the first body link is swung by the body actuator to move while moving the center of gravity in the left-right direction. 請求項１記載の２足型移動機構において、
前記キャスタは力センサを介して前記第２脚リンクへ取り付けられていることを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
The two-legged moving mechanism, wherein the caster is attached to the second leg link through a force sensor. 請求項１記載の２足型移動機構において、
前記キャスタは力センサを介して前記第２脚リンクへ取り付けられ、前記力センサで検知される荷重に基づいて前記胴体アクチュエータを制御することを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
The caster is attached to the second leg link via a force sensor, and controls the trunk actuator based on a load detected by the force sensor. 請求項１記載の２足型移動機構において、
前記２足型移動機構は、前記キャスタ及び前記車輪を接地する安定モードと、前記車輪のみを接地する倒立モードとを備え、
前記キャスタは力センサを介して前記第２脚リンクへ取り付けられ、
前記力センサからの情報をもとに前記安定モード又は前記倒立モードの何れか一つのモードで前記２足型移動機構が制御されることを特徴とする２足型移動機構。 In the biped type moving mechanism according to claim 1,
The biped moving mechanism includes a stable mode in which the caster and the wheel are grounded, and an inverted mode in which only the wheel is grounded,
The caster is attached to the second leg link via a force sensor,
The biped moving mechanism, wherein the biped moving mechanism is controlled in any one of the stable mode and the inverted mode based on information from the force sensor . 請求項１記載の２足型移動機構において、
前記キャスタ及び前記車輪を接地する安定モードと、前記車輪のみを接地する倒立モードと、を備え、車輪が駆動されることにより移動することを特徴とした２足型移動機構。 In the biped type moving mechanism according to claim 1,
A biped type moving mechanism comprising a stable mode in which the caster and the wheel are grounded and an inverted mode in which only the wheel is grounded, and the wheel moves when the wheel is driven.
JP2006118677A 2006-04-24 2006-04-24 Biped type moving mechanism Expired - Fee Related JP4797775B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006118677A JP4797775B2 (en) 2006-04-24 2006-04-24 Biped type moving mechanism
KR1020070039153A KR100863028B1 (en) 2006-04-24 2007-04-23 Two feet type robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006118677A JP4797775B2 (en) 2006-04-24 2006-04-24 Biped type moving mechanism

Publications (3)

Publication Number Publication Date
JP2007290054A JP2007290054A (en) 2007-11-08
JP2007290054A5 true JP2007290054A5 (en) 2008-11-13
JP4797775B2 JP4797775B2 (en) 2011-10-19

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006118677A Expired - Fee Related JP4797775B2 (en) 2006-04-24 2006-04-24 Biped type moving mechanism

Country Status (2)

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JP (1) JP4797775B2 (en)
KR (1) KR100863028B1 (en)

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