US 11,993,325 B2
Legged mobile robot, leg control method, and program storage medium
Takeharu Kitagawa, Tokyo (JP)
Assigned to NEC CORPORATION, Tokyo (JP)
Filed by NEC Corporation, Tokyo (JP)
Filed on Jul. 7, 2021, as Appl. No. 17/369,695.
Claims priority of application No. 2020-121757 (JP), filed on Jul. 16, 2020.
Prior Publication US 2022/0016775 A1, Jan. 20, 2022
Int. Cl. B62D 57/032 (2006.01)
CPC B62D 57/032 (2013.01) 7 Claims
OG exemplary drawing
 
1. A legged mobile robot comprising:
a plurality of legs movable in a front-rear direction, each of the plurality of legs including a sole with a recess shape that is open to a moving surface on which the plurality of legs move;
a plurality of protrusions respectively protruding in a plurality of directions including at least a lateral direction intersecting with the front-rear direction from a distal end portion of each of the plurality of legs, and capable of coming into contact with the moving surface;
a drive device configured to displace each of the protrusions up and down with respect to the sole of each of the legs, the sole being a part in contact with the moving surface; and
a control device configured to control movements of each of the protrusions by controlling the drive device.