IMPACT ABSORBING MECHANISM OF WALKING ROBOT

摘要

An impact absorbing mechanism installed at the foot part (5) of a bipedal robot, comprising an upper base plate (5a) joined to the foot part articulation (4) of a movable leg (2) and a lower base plate (5b) opposed to the upper base plate (5a), wherein three elastic members (6) with different anisotropies on elasticity are disposed between the upper base plate (5a) and the lower base plate (5b) around a yaw axis (YA) at equal intervals so that the elastic displacement of the lower base plate (5b) relative to the upper base plate (5a) is permitted in a yaw axis (YA) direction and suppressed in a direction orthogonal to the yaw axis (YA) direction.