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. Air in the atmosphere can flow in and flow out of the bag-like member (19) through inflow/ outflow means (20) provided with a solenoid valve (27) etc. When the foot sole mechanism (6) is off the floor, air flow into the bag-like member (19) is controlled so that the height of the bag-like member (19) in the final inflation state is controlled to a height corresponding to the gait form of the robot. The shock load when the leg body of the legged mobile robot lands on the floor is reduced appropriately in accordance with the gait form of the robot while at the same time posture stability of the robot is ensured easily, and, further, the robot can be structured light in weight.