Leg type mobile robot control apparatus
US6243623A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Aug 25, 1999 |
| Grant date | Jun 5, 2001 |
| Priority date | — |
| Expiry date | Aug 25, 2019 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In a legged mobile robot, in particular in a biped robot, the feet position and/or posture is determined in such a manner that compensating moment of total floor reaction force about a desired total floor reaction force central point is determined, based upon the detected posture inclination of the robot, and is distributed to each of the feet such that each foot rotates respectively by predetermined angles about the desired total foot floor reaction force central point and a desired foot floor reaction force central point, in order to control the actual total floor reaction force and the actual foot floor reaction force acting on the robot properly such that it walks on a floor having not only a slope extending over a relatively long distance, but also existing locally. With this, it becomes possible to control the floor reaction force acting on the robot easily and properly, without causing any interference to occur. Moreover, the system can ensure to control the floor reaction force acting on the robot properly, even when walking on the floor having not only a slant or undulation extending over a relatively long distance. Furthermore, the system can achieve the posture stabiliza…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.