US 12,134,431 B2
Robot leg structure
Yasuhisa Kamikawa, Tokyo (JP); Kazuo Hongo, Tokyo (JP); Atsushi Sakamoto, Tokyo (JP); and Yoshikazu Furuyama, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/296,641
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Nov. 22, 2019, PCT No. PCT/JP2019/045884
§ 371(c)(1), (2) Date May 25, 2021,
PCT Pub. No. WO2020/116214, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 2018-226670 (JP), filed on Dec. 3, 2018.
Prior Publication US 2022/0017165 A1, Jan. 20, 2022
Int. Cl. B62D 57/02 (2006.01); B60G 11/38 (2006.01); B60G 13/08 (2006.01); B60G 13/10 (2006.01); F16F 3/10 (2006.01); F16F 13/00 (2006.01)
CPC B62D 57/02 (2013.01) [B60G 11/38 (2013.01); B60G 13/08 (2013.01); B60G 13/10 (2013.01); F16F 3/10 (2013.01); F16F 13/00 (2013.01); F16F 13/002 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A robot leg structure, comprising:
a leg joint;
a first link that extends downward from the leg joint;
a ground contact portion configured to be in contact with a ground;
an elastic member that couples the first link with the ground contact portion;
a damping member adjacent to the elastic member, wherein the damping member couples the first link with the ground contact portion; and
a stopper configured to avoid direct contact between the first link and the ground contact portion in a case where the elastic member is bent.