DEVICE FOR ABSORBING FLOOR-LANDING SHOCK FOR LEGGED MOBILE ROBOT

摘要

A device (18) for absorbing floor-landing shock provided in a foot mechanism (6) of a leg of a robot. The device comprises an inflatable/ deflatable bag-like member (19) (variable volume body) on the ground contact surface side of the foot mechanism (6). The bag-like member (19) is formed of an elastic material such as rubber and has a restoration capability. The inside of the bag-like member (19) is open to the atmosphere through a passage (20). W hen the leg lands on the floor, the bag-like member (19) touches the ground and is compressed, causing air in the bag-like member to flow out into the atmosphere through the passage (20), which produces an outflow resistance. This reduces floor-landing shock. While the leg body is off the floor, the bag-like member (19) is inflated by the restoring capability of the member as air flows into it. The shock load in floor-landing of the leg body of a legged mobile robot can be reduced smoothly by a light-weighted structure.