Posture control system of legged mobile robot
US6505096B2 · kind B2 · utility
56Cited by
6References
20Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Aug 16, 1999 |
| Grant date | Jan 7, 2003 |
| Priority date | — |
| Expiry date | Aug 16, 2019 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/02
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
In a legged mobile robot, in particular a biped robot having arms, the control is conducted such that the dynamic balance is preserved so as to keep a stable posture, even when the robot is subject to unexpected reaction force from an object. It is configured such that the difference or error (i.e., moment about the central point of total floor reaction force) between the desired object reaction force, and the actual value is determined and is distributed to the desired body position/posture and the desired feet position/posture, and based thereon, robot link joints are controlled to be driven.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.