| 摘要 |
PROBLEM TO BE SOLVED: To provide a force sensor installation structure of a leg-type robot capable of installing a force sensor and suitable for reducing cost and calculation a load even in a leg-type robot having legs with a small ground area. SOLUTION: This leg wheel type robot 100 comprises a base element 10, a plurality of legs 12 connected to the base element 10 having a degree of freedom, and a drive wheel 20 rotatably installed at tips of the legs 20. A link nearest a leg tip among links of the legs 20 comprises a top link 80 having a flat face 81 at one end, and a bottom link 85 having a flat face 86 at one end. Force sensors 82 are installed at four corners of the flat face 81, and ends of the top link 80 and the bottom link 85 are connected with each other in such a manner that the flat faces 81 and 86 come into face contact with each other. COPYRIGHT: (C)2008,JPO&INPIT
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