Is a
Patent attributes
Current Assignee
Patent Jurisdiction
Patent Number
Patent Inventor Names
Hitoshi Toyoda0
Hiroshi Gomi0
Kazushi Hamaya0
Yoshinari Takemura0
Date of Patent
February 17, 2009
Patent Application Number
10525222
Date Filed
August 7, 2003
Patent Citations Received
Patent Primary Examiner
Patent abstract
In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.
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