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Title:
脚式移動ロボット及びその動作制御方法
Document Type and Number:
Japanese Patent JP3824608
Kind Code:
B2
Abstract:
In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.

Inventors:
Naoto Mori
Masatsugu Iribe
Hitoshi Yamaguchi
Application Number:
JP2003516753A
Publication Date:
September 20, 2006
Filing Date:
August 01, 2002
Export Citation:
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Assignee:
ソニー株式会社
山口 仁一
International Classes:
B25J5/00; B25J9/16; B25J13/00; B62D57/032
Domestic Patent References:
JP768480A
JP3161290A
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Toshio Sawada