Foot structure of legged mobile robot and legged mobile robot

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 11813742
APP PUB NO 20220355465A1
SERIAL NO

17763226

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A configuration that exerts floor reaction force directly to a force sensor in a foot of a legged mobile robot requires a sensor having a large withstand load. A foot (10f) includes an upper frame (44) that is connected to a movable leg and receives the load of a robot, a lower frame (48) that is deployed under the upper frame (44) and contacts with a walking surface, a high rigidity spring (50) attached the lower frame (48) and elastically supporting the upper frame (44) against the load, and a plurality of sensor mechanisms that detect floor reaction force at positions different from each other on the lower frame (48). Each of the sensor mechanisms includes a force sensor (62) attached to one of the upper frame (44) and the lower frame (48) and a sensor spring (52) that is an elastic body having rigidity lower than that of the high rigidity spring (50) and has a supporting point deployed on the other one of the upper frame (44) and the lower frame (48) so as to exert pressing force to the force sensor (62) according to a change of the distance between the upper frame (44) and the lower frame (48).

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Patent Owner(s)

  • SONY INTERACTIVE ENTERTAINMENT INC.

International Classification(s)

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Koda, Yuta Tokyo, JP 8 4
Obana, Koichi Tokyo, JP 6 5

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