US5255753A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Foot structure for legged walking robot
Assignee: Honda Motor Co Ltd
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Filing: 1992-05-19
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Granted: 1993-10-26
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Expires: 2012-05-19
Abstract
Abstract A legged walking robot such as a two-legged walking robot has a plurality of movable legs and a plurality of foot soles mounted respectively on distal ends of the movable legs by respective foot joints. Each of the foot soles has a curved surface disposed on at least a portion of a peripheral edge thereof. The curved surface is shaped such that the foot joint follows a predetermined curved path along a forward direction in which the legged walking robot walks. The foot sole also includes at least one projection on one or each of leading and trailing ends of the foot sole in the forward direction. The projection is movable into and out of a projecting position from the foot sole, but is normally urged into the projecting position to support the foot sole stably on the terrain.
Inventors
- 👤 Masao Nishikawa
- 👤 Tomoharu Kumagai
- 👤 Shoei Abe
- 👤 Masato Hirose
- 👤 Mitsuaki Hirakawa
- 👤 Hiroshi Gomi
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 06:29
CPC Classifications
B; B62; B62D; B62D57/00; B62D57/02
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
108 words
A foot structure for a legged walking robot having a foot pivotally linked to a shank member about an axis a foot joint, comprising: a substantially circularly curved toe section disposed on a sole portion of said foot, said curved toe section having a radius of curvature centered about a point located above said toe section and below said axis of the foot joint, said curved toe section having a convex shape along said sole portion such that the foot follows a predetermined curved path along a forward walking direction; and a substantially flat section disposed centrally on said sole portion adjoining and tangent to the toe section.
Claim 2
Dependent Claim
108 words
A foot structure for a legged walking robot having a foot pivotally linked to a shank member about an axis a foot joint, comprising: a substantially circularly curved toe section disposed on a sole portion of said foot, said curved toe section having a radius of curvature centered about a point located above said toe section and below said axis of the foot joint, said curved toe section having a convex shape along said sole portion such that the foot follows a predetermined curved path along a forward walking direction; and a substantially flat section disposed centrally on said sole portion adjoining and tangent to the toe section.
Claim 3
Dependent Claim
46 words
The foot structure of claim 1 further comprising a substantially circularly curved heel section having a radius of curvature centered about a point located above said heel section and below said axis of the foot joint, the heel section adjoining and tangent to said flat section.
Claim 4
Dependent Claim
18 words
The foot structure of claim 1 further comprising an elastomeric layer on the toe section and heel section.
Claim 5
Dependent Claim
85 words
The foot structure of claim 2 further comprising; an elastomeric layer on the toe section; a plurality of recesses in the heel section; an elastomeric layer on the heel section around the recesses; a laminated elastomeric assembly substantially centrally positioned within each recess in the heel section, with a gap separating each laminated elastomeric assembly on opposite lateral sides from the recess which the laminated assembly is positioned within, each laminated assembly having an outermost layer protruding beyond the elastomeric layer on the heel section.
Claim 6
Dependent Claim
31 words
The foot structure of claim 4 wherein the plurality of laminated elastomeric assemblies comprise a multiplicity of elastic layers with each of the elastic layers having a different modulus of elasticity.
Claim 7
Dependent Claim
27 words
The foot structure of claim 4 wherein the elastomeric layer on the heel section has a higher modulus of elasticity than the plurality of laminated elastomeric assemblies.
Claim 8
Dependent Claim
38 words
The foot structure of claim 4 wherein the foot has an inner side and an outer side and the heel section is convexly curved in a transverse direction extending perpendicularly from the inner side to the outer side.
Claim 9
Dependent Claim
38 words
The foot structure of claim 2 wherein the foot has an inner side and an outer side and the heel section is convexly curved in a traverse direction extending perpendicularly from the inner side to the outer side.
Claim 10
Dependent Claim
51 words
The foot structure of claim 2 further comprising: a window opening extending through the toe section or the heel section; a rigid projection mounted on the foot and pivotable through the window opening; and biasing means for biasing the projection to pivot through the window opening into a ground contact position.
Claim 11
Dependent Claim
32 words
The foot structure of claim 9 wherein the robot has a weight sufficient to force the projection into the foot, against a force exerted by the biasing means, as the robot walks.
Claim 12
Dependent Claim
24 words
The foot structure of claim 9 further comprising: locking means for locking the projection against movement; and an actuator for actuating the locking means.
Claim 13
Dependent Claim
69 words
The foot structure of claim 2 further comprising: a window opening extending through the toe section or the heel section; a rigid projection mounted on the foot and pivotable through the window opening; drive means engaged to the projection; and an actuator linked to the drive means, the actuator energizable to pivot the projection through the window opening, via the drive means, into and out of a projecting position.
Claim 14
Dependent Claim
28 words
The foot structure of claim 2 further comprising at least one elastic material projection retractably extending from the heel section at an acute angle to the central section.
Claim 15
Dependent Claim
129 words
A foot structure for a legged walking robot having a foot, pivotally linked to a shank member about an axis of a foot joint, comprising: a substantially circularly curved toe section disposed on a sole portion of said foot, said curved toe section having a radius of curvature centered about a point located above said toe section and below said axis of the foot joint, said curved toe section having a convex shape along said sole portion such that the foot follows a predetermined curved path along a forward walking direction; a substantially flat section disposed centrally on said sole portion adjoining and tangent to the toe section; and at least one elastic material projection retractably extending from said toe section at an acute angle to said flat section.
Claim 16
Dependent Claim
129 words
A foot structure for a legged walking robot having a foot, pivotally linked to a shank member about an axis of a foot joint, comprising: a substantially circularly curved toe section disposed on a sole portion of said foot, said curved toe section having a radius of curvature centered about a point located above said toe section and below said axis of the foot joint, said curved toe section having a convex shape along said sole portion such that the foot follows a predetermined curved path along a forward walking direction; a substantially flat section disposed centrally on said sole portion adjoining and tangent to the toe section; and at least one elastic material projection retractably extending from said toe section at an acute angle to said flat section.
Claim 17
Dependent Claim
18 words
The foot structure of claim 14 further comprising biasing means attached to the foot and supporting the projection.
Claim 18
Dependent Claim
40 words
The foot structure of claim 14 further comprising a plurality of projections extending from the toe section and the heel section with the projections not aligned in the traverse direction or in a front-back direction perpendicular to the traverse direction.
Claim 19
Dependent Claim
180 words
A foot structure for a legged walking robot having a foot comprising: a circularly curved toe section shaped such that the foot follows a predetermined curved path along a forward walking direction; a substantially flat central section adjoining the toe section; a circularly curved heel section adjoining the central section; at least one rigid projection pivotable through a window in one of the curved toe and heel sections into and out of a projecting position in response to an increase in a load applied to the foot; biasing means for normally biasing the projection into the projecting position, said projection retractable out of the projecting position while compressing the biasing means in response to the load applied to the foot; a brake for holding the projection in the projecting position; an actuator for applying braking power to the brake; and power transmitting means for transmitting braking power from the actuator to the brake, including means for preventing the actuator from being actuated by the brake, the projection being lockable in the projecting position in response to de-energization of the actuator.
Claim 20
Dependent Claim
180 words
A foot structure for a legged walking robot having a foot comprising: a circularly curved toe section shaped such that the foot follows a predetermined curved path along a forward walking direction; a substantially flat central section adjoining the toe section; a circularly curved heel section adjoining the central section; at least one rigid projection pivotable through a window in one of the curved toe and heel sections into and out of a projecting position in response to an increase in a load applied to the foot; biasing means for normally biasing the projection into the projecting position, said projection retractable out of the projecting position while compressing the biasing means in response to the load applied to the foot; a brake for holding the projection in the projecting position; an actuator for applying braking power to the brake; and power transmitting means for transmitting braking power from the actuator to the brake, including means for preventing the actuator from being actuated by the brake, the projection being lockable in the projecting position in response to de-energization of the actuator.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1996-10-25 | 1997-04-26 | 1997-10-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-10-25 | 2001-04-26 | 2001-10-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-10-25 | 2005-04-26 | 2005-10-26 | $7700.00 | Window Closed / Lapsed |