Patent ID: 6564888
Filing Date: 2003-05-20
Classification: B62D

Abstract:
A two-legged mobile robot having at least a body and two leg links connected to the body;wherein the improvement comprises: a parallel linkage is provided between the body and the two leg links to connect the body to the two leg links such that each of the two leg links is movable relative to the body in a direction of gravity axis, wherein the parallel linkage is composed of upper and lower links located at higher and lower positions on the gravity axis, and right and left links each connected to the upper and lower links and each oriented parallel to the gravity axis when the robot stands upright, and wherein the body is connected to the upper and lower links through a first fulcrum and a second fulcrum, while the two leg links are each connected to the right and left links, wherein the first fulcrum and the second fulcrum are aligned in the direction of the gravity axis when the robot stands upright, and wherein the right and left links are connected to the upper link through a first group of rotation shafts and to go to the lower link through a second group of rotation shafts, and wherein the first fulcrum is located at a position spaced apart by an equal distance from the first group of rotation shafts and the second fulcrum is located at a position spaced apart by an equal distance from the second group of rotation shafts.