| 摘要 |
PROBLEM TO BE SOLVED: To provide a simple foot mechanism of a multi-leg walking type moving device capable of securing the area of a supporting polygon even on an unleveled ground and enabling floor reaction force information necessary and sufficient for controlling standing balance to be obtained. SOLUTION: The foot mechanism 1 installed at the lower end of a leg unit in the multi-leg walking type moving device to be grounded includes a base member 2 attached the end of the leg unit, supporting members 31, 32, 33 which are fixed to the base member 2, which have three ground contact points 31e, 32e, 33e not arranged on one straight line and which are brought into contact with the ground at only the ground contact points, and floor reaction force detectors 31c, 32c, 33c which are attached to the supporting members 31, 32, 33 to respectively detect floor reaction force at the ground contact points 31e, 32e, 33e and which detect only the floor reaction force acting in the normal direction to a first virtual foot bottom plane P1 including all the ground contact points 31e, 32e, 33e. COPYRIGHT: (C)2009,JPO&INPIT
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