System for controlling locomotion of legged walking robot
US5221883A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Nov 27, 1991 |
| Grant date | Jun 22, 1993 |
| Priority date | — |
| Expiry date | Nov 27, 2011 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A servo system for controlling locomotion of a biped walking robot, made up of a body link and two leg linkages each connected to the body link by a first drive joint and each including knee and ankle joints, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in responsive with the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands one of additionally preestablished candidate positions for robot leg landing.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.