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Foot mechanism of the legged mobile robot and legged mobile robot
Foot mechanism of the legged mobile robot and legged mobile robot
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机译：腿式移动机器人的脚机构和腿式移动机器人
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摘要
PROBLEM TO BE SOLVED: To provide a leg type moving robot which suppresses the change of an effective surface for drag generation accompanied by the change of a foot shape due to ZMP movement.;SOLUTION: A main body 21 attached with an ankle connection part 41 to be connected with an ankle is bonded with a bottom soft part 22 by, for example, adhesion. The main body 21 is not deformed by torque generated in a lower limb and a reactive force from a transfer surface 19 and has hardness to secure support moment. The soft part 22 has both the function of the bottom soft part 22 and the function of a contact part of the transfer surface 19. Ground contact distribution relative to the transfer surface 19 is adjusted by the suitable selection of the shape of the main body 21. The outer edge of the foot soft part 22 to contact with the transfer surface 19 is formed with R and unnecessary hooking to the transfer surface 19 is prevented.;COPYRIGHT: (C)2004,JPO
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