STABLY WALKING METHOD, STEP CONTROLLING METHOD AND STEERING METHOD OF LEG-TYPE ROBOT AND APPARATUS THEREFOR

摘要

PROBLEM TO BE SOLVED: To provide a leg-typed walking robot walking, steering or turning in an arbitrary direction without laterally swinging its trunk while reducing vertical movement of a platform wherever on a flat ground, a slope and an irregular ground, offsetting standing torque by platform load, and keeping a seat horizontal with a chair mounted on the platform.;SOLUTION: The walking robot consists of arms R1 and R2 rotating around a hip joint shaft C and legs L1 and L2 pivoted to the tips of the arms. A cam E is coupled to the hip joint shaft C and the vertical movement of a roller 7 following an outline of the cam is transmitted to the platform 5, thereby keeping a constant height of the platform 5 from the ground 4. On the slope, a phase between the shaft C and the cam E is changed by a cam rotational angle phase shifter 9 to stabilize the height of the platform 5 from the slope 4.;COPYRIGHT: (C)2005,JPO&NCIPI