| 摘要 |
PROBLEM TO BE SOLVED: To provide a leg suspension for a robot having two right and left legs beneath a body and properly controlling wheels provided in the front end of the legs so as to stably travel on an uneven road surface by the wheels. SOLUTION: In the leg suspension for the biped robot moving by inverted two-wheel traveling, springs and dampers are provided between respective leg ends and wheels so as to stably travel on the uneven road surface, the position of suspending the springs is made variable by actuators so as to make the leg end positions adjustable, unevenness of the road surface is absorbed by the springs and the dampers, the condition of the robot is estimated by a gyroscope mounted on upper half of the body, and the actuators are extended/retracted so as to converge shaking of the upper half of the body. COPYRIGHT: (C)2011,JPO&INPIT
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