Title:
脚式移動ロボット及びその制御方法、並びに、脚式移動ロボット用相対移動測定センサ
Document Type and Number:
Japanese Patent JP4480843
Kind Code:
B2
Abstract:
A legged mobile robot having having at least a plurality of movable legs. This robot includes, in addition to a road surface touching sensor for confirming the ground touching state between the foot part and the road surface, a relative movement measurement sensor for measuring the relative movement between the foot part and the road surface. The robot has its operation controlled on the basis of the amount of relative movement between the foot part and the road surface, so that, when an offset is produced between the intended or scheduled trajectory and the actual trajectory, the operation may be controlled adaptively to execute the robot operation.
Inventors:
Yuichi Hattori
Hitoshi Yamaguchi
Hitoshi Yamaguchi
Application Number:
JP2000100708A
Publication Date:
June 16, 2010
Filing Date:
April 03, 2000
Export Citation:
Assignee:
ソニー株式会社
山口 仁一
山口 仁一
International Classes:
B25J5/00; B25J19/02; B25J13/08; B25J19/04; B62D57/032; G05D3/12
Domestic Patent References:
| JP7205085A | ||||
| JP6063876A | ||||
| JP3184781A | ||||
| JP5093778U |
Foreign References:
| US5357433 | ||||
| US5355064 |
Attorney, Agent or Firm:
Eiji Yamada
Masaaki Miyata
Toshio Sawada
Masaaki Miyata
Toshio Sawada