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Legged mobile robot
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A mobile robot, walking technology, applied in the direction of manipulators, clothing, static electricity, etc., can solve the problem of walking mobile robots without any countermeasures, and achieve the effect of compact structure
Inactive Publication Date: 2008-02-20
HONDA MOTOR CO LTD
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Problems solved by technology
However, the technologies described in Patent Documents 2 to 4 involve the discharge and removal of charges on unmanned transport vehicles or stationary industrial robots, but there is no countermeasure for walking mobile robots.
Method used
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no. 1 example
[0042] Next, a walking type mobile robot according to a first embodiment of the present invention will be described with reference to the drawings.
[0043] Fig. 1 is a front view of a walking mobile robot according to a first embodiment of the present invention; Fig. 2 is a side view thereof. In addition, as a walking mobile robot, a two-legged humanoid (humanoid) robot is taken as an example.
[0044] As shown in Figure 1, a walking mobile robot (hereinafter referred to as "robot") 1 has several (bars), more specifically, has two (bars) legs 2, and is provided with a main body ( upper body) 3. A head 4 is formed above the main body 3 , and two (only) arm parts 5 are connected to both sides of the main body 3 . In addition, as shown in FIG. 2 , an accommodating portion 6 is provided at the back of the main body 3 , and electronic control parts (to be described later), a storage battery, etc. are accommodated therein. In addition, the robot 1 shown in FIGS. 1 and 2 is cover...
no. 2 example
[0077] Fig. 9 shows the structure of the walking mobile robot according to the second embodiment of the present invention, more specifically, it shows the structure near the foot 22 of the robot, similar to the side view near the foot 22 in Fig. 4 .
[0078] The key difference between the second embodiment and the first embodiment is that in the second embodiment, the buffer member 224 is made of conductive rubber material. That is, the cushioning member 224 is made of a material in which a conductive material 226a such as carbon black is added to rubber (the conductive material 226a is shown enlarged in the figure). That is, the buffer component 224 and the conductive component 226 are integrated, in other words, the structure is that the conductive component 226 is disposed in the buffer component 224 , or the conductive component 226 is disposed inside the buffer component 224 .
[0079] In the second embodiment, with the above-mentioned structure, as long as the buffer mem...
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Abstract
The invention provides a leg type mobile robot which effectively discharges and removes static electricity charged on its feet. The leg type mobile robot is equipped with at least a base body, two legs, feet 22 connected with the respective tip ends through ankles, an electric motor 20 which is disposed between the feet 22 and the leg parts and drives the ankles, and a six-axis force sensor 56 which is disposed between the feet and the legs, and detects floor reaction force acting from the floor surface F to which the feet are ground, and equipped with a buffer member 224 buffering the shock when grounding to the floor surface on the feet 22, which is characterized by a conductive member 226 on the buffer member 224 of the feet 22.
Description
technical field [0001] The invention relates to a walking mobile robot, more specifically, to a walking mobile robot which discharges and removes electric charge on the feet. Background technique [0002] As a walking type mobile robot, it is described in the following Patent Document 1 and is known. The walking mobile robot described in Patent Document 1 has: a main body; two legs connected to the main body; and feet respectively connected to the front ends of the two legs through foot joints, and at least the following parts: A motor that drives the second joint between the foot and the leg; a force sensor that detects ground reaction forces generated by the ground that the foot touches. In this walking mobile robot, the feet are made of a flat frame made of aluminum or the like, and an elastic material (cushion member) made of polyurethane rubber is pasted on the bottom surface of the foot to cushion the impact when touching the ground. [0003] When such a walking mobi...
Claims
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Application Information
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