Control system for legged mobile robot
US5355064A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Mar 3, 1993 |
| Grant date | Oct 11, 1994 |
| Priority date | — |
| Expiry date | Mar 3, 2013 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A legged mobile robot control system for enabling the mobile robot, more particularly a biped walking robot to walk stably even over terrain with unexpected irregularities. The robot's motion is approximated by a mathematical model and a mathematical control is conducted, while controlling the robot's attitude on the basis of a walking pattern established in advance, without need to use a high-speed on board computer for non-linearlity compensation. In another embodiment made up of a more simple arrangement, when the foot angle deviates from that on flat terrain owing to the foot stepping on a bump, the foot angle is estimated and joints are driven such that the robot's center of gravity is restored in a predetermined target trajectory. In still another embodiment, the robot body's inclination angle and/or angular velocity is determined and the hip joints connecting the body with two legs are driven to restore a predetermined stable attitude.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.