Leg for walking robot having end part sensor

Abstract

Abstract PURPOSE:To reduce the required number of sensors, by a method wherein end part sensors, mounted to the front and the rear end of the back of a leg for walking robot are constituted such that movement of a contact piece rockably and axially slidably supported is detected by a rotation detecting device. CONSTITUTION:A leg stay 1 of a walking robot is provided at its lower end with a leg body 2, end part sensors 3 and 4 are attached to the front and the rear end of a leg body 2, and a leg back sensor 5 is located in the middle position therebetween. In this case, the sensors 3 and 4 are positioned and set around shafts 11a and 11b to a support body 9 rotatably supported to a leg body 12 in a manner to turn obliquely downward, a contact lever 8 provided at its tip with a roller 18 for contact is slidably supported and is energized outwardly through the force of a spring 20. A support body 9 is energized by a leaf spring 13 so that it is restored to a neutral position. A driving piece 16, on the outer peripheral surface of which is toothed, is secured to the support body 9, and a potentiometer 25, serving as a rotation detecting device, having a driven gear 24 geared with a driving piece 16, is mounted to a body 12.

Inventors

• 👤 Eiji Nakano
• 👤 中野　栄二
• 👤 Norio Koyanai
• 👤 小谷内　範穂

Bibliographic Details