Legged walking robot and system for controlling the same
US5151859A · kind A · utility
108Cited by
4References
13Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jun 27, 1990 |
| Grant date | Sep 29, 1992 |
| Priority date | — |
| Expiry date | Jun 27, 2010 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A biped walking robot and system for controlling the robot. The system provides smooth posture control by eliminating interference arising between the frictional force of the ground acting on the legs of the robot and the driving force of the leg joints. A six-dimensional force and torque sensor is provided to detect six force or moment components and based thereon, an angular command to joint motors is corrected. A joint structure of the robot is described, wherein the axes of the drive joints are arranged at right-angles to one another to thereby enable accurate positional control to be effected using Cartesian coordinates.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.