System for controlling locomotion of legged walking robot
US5343397A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Sep 26, 1991 |
| Grant date | Aug 30, 1994 |
| Priority date | — |
| Expiry date | Sep 26, 2011 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A system for controlling locomotion of a biped walking robot. The system carries out feedback control for eliminating the deviation between a target value and the detected angle of inclination of the linkage mechanism in the absolute coordinate system. Hence, stable dynamic walking is achieved at all times even during locomotion over rough terrain. In the stability control, the number of joints with respect to which control is conducted is reduced to the minimum required and control is conducted separately but in coordination with respect to the movement or motion in the pitch direction and the movement or motion in the roll direction, while the remaining joints are controlled locally. Thus, the control is considerably simplified. In addition, feedback control is conducted with respect to the velocity components so as to realize the desired posture angles and the feedback gain adjusted so as to achieve the response speed required by the individual linkages. This further enhances the capability of the robot to walk stably at high speed.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.