| 摘要 |
<p>A floor reaction detector of a legged mobile robot having at least an upper body, a plurality of leg parts connected to the upper body through first articulations, and leg parts connected to the end parts of the leg parts through second articulates, disposed between the second articulates and the ground-contact ends of the leg parts, wherein the upper parts of the floor reaction detectors are connected to near the second articulates, a spring mechanism body lower in rigidity than a member forming a part near the second articulate is installed at the ground-contact ends of the leg parts, and the lower parts of the floor reaction detectors are connected to the ground-contact ends of the leg parts through the spring mechanism bodies, whereby a controllability is not deteriorated since a detection accuracy is increased, and the affection of impact at the time of ground-contact can be reduced while stably holding an attitude in standing state.</p> |
