Emergency stop control system for mobile robot
US5369346A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | May 20, 1993 |
| Grant date | Nov 29, 1994 |
| Priority date | — |
| Expiry date | May 20, 2013 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
An emergency stop control system for a biped walking robot having a body and two articulated legs each connected to the body. The system has a robot controller for controlling the motion of the robot such that it walks in accordance with a predetermined gait and an emergency stop controller including an acoustic sensor (microphone). The robot operator and persons in a robot's working environment are provided with a whistle and blows it when the robot is likely to collide with them or objects. The sensor picks up the signal to pass it to a band-filter so as a frequency components of 400 Hz is passed to a later stage made up of a microcomputer. In the microcomputer, it is first checked if the signal is larger than a first reference level at an interval and a counter value is incremented if the result of checking is affirmative. Then the counter value is compared with a second reference value and if it exceeds the second reference value, the robot is ascertained to be in a stable attitude. If it is ascertained to be stable, the robot is driven to stop its locomotion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.