Controller for legged mobile robot
US6289265A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Oct 19, 2000 |
| Grant date | Sep 11, 2001 |
| Priority date | — |
| Expiry date | Oct 19, 2020 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/085
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The posture inclination of the robot is detected, a moment of compensating total floor reaction force about a desired total floor reaction force central point is determined therefrom to be distributed to each foot such that the position/posture of the feet are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively. And by parallel-translating the feet in phase, the force component of the actual total floor reaction force is also controlled. In addition, the internal force components (which do not influence on the actual total floor reaction force) generated by the actual foot floor reaction force are controlled independently. With this, the system can appropriately control the actual total floor reaction force and the actual foot floor reaction force acting on the biped mobile robot, can realize walking with stable posture even when walking on the floor having not only a slant or undulation extending over a relatively long distance, but also on an unexpected local slant or level difference, and can absorb the foot-landing impact to improve the contactability of robot foot with t…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.