Method and apparatus for dynamic walking control of robot
US4834200A · kind A · utility
Assignees
Inventor
Key dates
| Filing date | Dec 14, 1987 |
| Grant date | May 30, 1989 |
| Priority date | — |
| Expiry date | Dec 14, 2007 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/02
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method and an apparatus for dynamic walking control of a biped robot including a torso and a pair of legs with feet which, having a much smaller mass than the torso, make it possible to consider the robot as an inverted pendulum. The legs are equipped with actuators by which their length can be expanded or contracted and with actuators for producing swinging torque between each leg and its foot. The walking of the robot is controlled by detecting the angle between each leg and foot, adjusting the length of at least the leg whose foot is in contact with the ground so as to control the height of the center of gravity of the torso to pass along a straight line of predetermined inclination, and applying torque to act about the ankle of the foot in contact with the ground.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.