Walking robot and control method thereof
US9376151B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 10, 2011 |
| Grant date | Jun 28, 2016 |
| Priority date | — |
| Expiry date | Sep 28, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40244
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A walking robot and a control method thereof. The control method includes performing transition of a second leg to a toe-off state, when ground reaction force applied to a first leg exceeds a first set value under the condition that the first leg is in a swing state and the second leg is in a support state, performing transition of the second leg to the swing state and transition of the first leg to the support state, when ground reaction force applied to the second leg is below a second set value under the condition that the second leg is in the toe-off state, and achieving walking of the walking robot by repeating the transitions among the swing state, the support state and the toe-off state. Thereby, the control method allows the robot to more stably and naturally walk.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.