| US 7,600,591 B2 | ||
| Leg type mobile robot | ||
| Toru Takenaka, Saitama (Japan); Keizo Matsumoto, Saitama (Japan); Hiroshi Gomi, Saitama (Japan); and Kazushi Hamaya, Saitama (Japan) | ||
| Assigned to Honda Motor Co., Ltd., Tokyo (Japan) | ||
| Appl. No. 10/544,305 PCT Filed Apr. 28, 2005, PCT No. PCT/JP2005/008130 § 371(c)(1), (2), (4) Date Aug. 01, 2005, PCT Pub. No. WO2006/025135, PCT Pub. Date Mar. 09, 2006. |
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| Claims priority of application No. 2004-250418 (JP), filed on Aug. 30, 2004. | ||
| Prior Publication US 2006/0249314 A1, Nov. 09, 2006 | ||
| Int. Cl. B25J 5/00 (2006.01) | ||
| U.S. Cl. 180—8.6 | 24 Claims |
| 1. A leg type mobile robot comprising:
an body;
legs, each leg connected to the body via a first joint; and
feet, each foot connected to an end part of the leg via a second joint,
one foot of the feet including a first base seat part and a foot portion having a lower end part having ground areas grounded
on a floor surface,
the foot portion including
a base part having a shape along a bottom surface of a second base seat part provided between the second joint and the foot
portion, wherein a sensor is disposed between the first and the second base seat parts, and
a plurality of plate spring parts extending downward from the base part, having the ground areas formed at the front and back
sides of the base part and the second base seat part and supporting empty weight of the leg type mobile robot while bending
at the time of being grounded.
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