LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT

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EP 1 484 134 A8

(12)	CORRECTED EUROPEAN PATENT APPLICATION
	published in accordance with Art. 158(3) EPC

(48)	Corrigendum issued on:
	02.03.2005 Bulletin 2005/09

(43)	Date of publication:
	08.12.2004 Bulletin 2004/50

(21)	Application number: 03705182.8

(22)	Date of filing: 14.02.2003

(51)	International Patent Classification (IPC)⁷: B25B 5/00, B25J 13/00

(86)	International application number:
	PCT/JP2003/001582

(87)	International publication number:
	WO 2003/068455 (21.08.2003 Gazette 2003/34)

(84)	Designated Contracting States:
	AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LI LU MC NL PT SE SI SK TR

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Priority:

15.02.2002 JP 2002037982
15.02.2002 JP 2002037988
15.02.2002 JP 2002037992
15.02.2002 JP 2002037997
15.02.2002 JP 2002038013
15.03.2002 JP 2002073215
15.03.2002 JP 2002073223
15.03.2002 JP 2002073230
15.03.2002 JP 2002073233
15.03.2002 JP 2002073321

(71)	Applicants:
	Sony Corporation Tokyo 141-0001 (JP) Yamaguchi, Jinichi Hino-shi, Tokyo 191-0062 (JP)

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Inventors:

KATO, Keisuke, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)
KOIKE, Goushi, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)
TOSAKA, Susumu, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)
MORIKAWA, Hiroaki, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)
YAMAGUCHI, Jinichi
HINO-SHI, Tokyo 191-0062 (JP)
NAGASAKA, Kenichiro, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)
NAGANO, Masakuni, SONY CORPORATION
SHINAGAWA-KU, Tokyo 141-0001 (JP)

(74)	Representative: Pilch, Adam John Michael
	D Young & Co 120 Holborn London EC1N 2DY London EC1N 2DY (GB)

(54)	LEG DEVICE FOR LEG TYPE MOVABLE ROBOT, AND METHOD OF CONTROLLING LEG TYPE MOVABLE ROBOT

(57) In a foot of a legged mobile robot, deformation of the foot is absorbed by a first concavity and the position and shape of a ground-contact portion hardly change. Accordingly, variation in a resistive force against the moment about the yaw axis can be reduced and a spinning motion can be prevented. In addition, when the foot is placed on a bump or a step, a flexible portion deforms and receives it, and a frictional retaining force is generated between the flexible portion and the bump. Thus, the foot is flexibly adapted to the road surface, and sliding caused by the bump and excessively fast motion are prevented. Accordingly, the foot can be adapted to various kinds of road surfaces such as surfaces having bumps and depressions, and the attitude stability can be increased.