US 12,139,218 B2
Robot
Keiji Togawa, Tokyo (JP)
Assigned to Sony Interactive Entertainment Inc., Tokyo (JP)
Filed by Sony Interactive Entertainment Inc., Tokyo (JP)
Filed on Jul. 6, 2021, as Appl. No. 17/367,961.
Claims priority of application No. 2020-119284 (JP), filed on Jul. 10, 2020.
Prior Publication US 2022/0009570 A1, Jan. 13, 2022
Int. Cl. B62D 57/032 (2006.01); G05D 1/00 (2024.01)
CPC B62D 57/032 (2013.01) [G05D 1/021 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A robot comprising:
a yawing actuator that allows yawing of a trunk of the robot;
a pitching actuator that is arranged above the yawing actuator and is supported by the yawing actuator, the pitching actuator allowing pitching of the trunk; and
a rolling actuator that is arranged in a rear of the pitching actuator and is supported by the pitching actuator, the rolling actuator allowing rolling of the trunk, wherein:
the yawing actuator has a supported portion and a movable portion rotatable with respect to the supported portion around a rotation center line extending along an upward and downward direction of the robot,
the pitching actuator has a supported portion supported by the movable portion of the yawing actuator and a movable portion rotatable with respect to the supported portion of the pitching actuator around a rotation center line extending in a leftward and rightward direction of the robot, and
the rolling actuator has a supported portion supported by the movable portion of the pitching actuator and a movable portion rotatable with respect to the supported portion of the rolling actuator around a rotation center line extending along a forward and rearward direction of the robot.