US 6,981,562 B2 | ||
Biped locomotion robot | ||
Hideaki Takahashi, Saitama-ken (Japan) | ||
Assigned to Honda Giken Kogyo Kabushiki Kaisha, Tokyo (Japan) | ||
Appl. No. 10/416,850 PCT Filed Nov. 14, 2001, PCT No. PCT/JP01/09953 § 371(c)(1), (2), (4) Date May 16, 2003, PCT Pub. No. WO02/40229, PCT Pub. Date May 23, 2002. |
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Claims priority of application No. 2000-351870 (JP), filed on Nov. 17, 2000. | ||
Prior Publication US 2004/0030447 A1, Feb. 12, 2004 | ||
Int. Cl. B25J 5/00 (2006.01) |
U.S. Cl. 180—8.6 | 4 Claims |
1. A biped locomotion robot comprising:
a fundamental body portion;
two leg portions, each of which comprises:
a first link provided to support said fundamental body portion through a first joint portion, and
a second link provided to support said first link through a second joint portion; and
a foot portion movably coupled to each of said two leg portions through a third joint portion,
wherein a rigidity of said first link is lower than that of said fundamental body portion, and a rigidity of said second link
is lower than that of said first link, wherein a rigidity, of said first link is lower than that of said fundamental body
portion, and a rigidity of said second link is lower than that of said first link, wherein the rigidity of said first link
is determined between a top end and a bottom end of the first link, and the rigidity of said second link is determined between
a top end and a bottom end of the second link and the rigidity of the fundamental body portion is determined between a top
end and a bottom end of the fundamental body portion.
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