Title:
脚式移動ロボットの足底接地位置検出装置
Document Type and Number:
Japanese Patent JP3626303
Kind Code:
B2
Abstract:
A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. An apparatus for detecting the landing position of a foot sole of each of the movable legs has a force sensor mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof. The force sensor detects at least a perpendicular force perpendicular to the foot sole and a moment about an axis extending in a lateral direction of the foot sole and passing through a predetermined reference point on the foot sole. A time when the foot sole touches or leaves the floor is detected on the basis of the perpendicular force detected by the force sensor. A landing position for the foot sole to start touching or end leaving the floor is determined on the basis of the perpendicular force and the moment detected by the force sensor, at the detected time or in a predetermined time range near the detected time.
Inventors:
Takai Kawai
Toru Takenaka
Takashi Matsumoto
Tadaaki Hasegawa
Toru Takenaka
Takashi Matsumoto
Tadaaki Hasegawa
Application Number:
JP33834196A
Publication Date:
March 09, 2005
Filing Date:
December 18, 1996
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/08; B25J19/02; B62D57/032; (IPC1-7): B25J5/00; B25J13/08; B25J19/02
Domestic Patent References:
| JP663881A | ||||
| JP5123987A | ||||
| JP4101791A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba