Invention Grant
- Patent Title: Lower limb structure for legged robot, and legged robot
- Patent Title (中): 腿部机器人的下肢结构和腿式机器人
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Application No.: US14401892Application Date: 2013-04-11
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Publication No.: US09446514B2Publication Date: 2016-09-20
- Inventor: Masaki Nagatsuka
- Applicant: THK CO., LTD.
- Applicant Address: JP Shinagawa-ku
- Assignee: THK CO., LTD.
- Current Assignee: THK CO., LTD.
- Current Assignee Address: JP Shinagawa-ku
- Agency: Westerman, Hattori, Daniels & Adrian, LLP
- Priority: JP2012-124511 20120531
- International Application: PCT/JP2013/060940 WO 20130411
- International Announcement: WO2013/179782 WO 20131205
- Main IPC: B62D57/02
- IPC: B62D57/02 ; B62D57/032 ; B25J9/10
Abstract:
Provided is a lower limb structure for a legged robot with which a load on an actuator for driving a knee joint can be reduced. The lower limb structure for the legged robot comprises: a hip joint main body (18); a thigh portion (12a); a hip joint coupling (22) for connecting the thigh portion (12a) to the hip joint main body (18); and a knee joint main body (19) joined to the thigh portion (12a). The lower limb structure for the legged robot provides a thigh portion auxiliary link (31) having one end portion joined to the hip joint main body (18) or the hip joint coupling (22) to be rotatable about one pitch axis and the other end portion joined to the knee joint main body (19) to be rotatable about another pitch axis. A knee joint actuator (4) increases and decreases a length from the one end portion to the other end portion of the thigh portion auxiliary link (31).
Public/Granted literature
- US20150122559A1 LOWER LIMB STRUCTURE FOR LEGGED ROBOT, AND LEGGED ROBOT Public/Granted day:2015-05-07
Information query
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