公开(公告)号：EP1550533A4

公开(公告)日：2007-12-12

申请号：EP03795378

申请日：2003-09-10

申请人： KAWADA KOGYO KK

发明人： OHTA NARUHIKO ,  KAWASAKI TOSHIKAZU ,  ISOZUMI TAKAKATSU

IPC分类号： A63H11/18 ,  B25J5/00 ,  B25J17/00 ,  B25J19/00

CPC分类号： B25J19/0091 ,  Y10T74/20354

摘要： An impact absorbing mechanism installed at the foot part (5) of a bipedal robot, comprising an upper base plate (5a) joined to the foot part articulation (4) of a movable leg (2) and a lower base plate (5b) opposed to the upper base plate (5a), wherein three elastic members (6) with different anisotropies on elasticity are disposed between the upper base plate (5a) and the lower base plate (5b) around a yaw axis (YA) at equal intervals so that the elastic displacement of the lower base plate (5b) relative to the upper base plate (5a) is permitted in a yaw axis (YA) direction and suppressed in a direction orthogonal to the yaw axis (YA) direction.