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Title:
ATTITUDE CONTROL DEVICE OF MOBILE ROBOT
Document Type and Number:
Japanese Patent JP3833567
Kind Code:
B2
Abstract:

PROBLEM TO BE SOLVED: To provide an attitude control device of a mobile robot capable of preventing the robot from becoming unstable by maintaining a dynamic balance even when the mobile robot such as legged robot receives an unpredicted reaction from an object for operation, and also preventing the motion of the object from being affected.
SOLUTION: An object reaction deviation moment acting on the center point of a target total floor reaction is divided into the sum of components in operating direction and the sum of components in non-operating direction. A dynamic unbalance produced by the sum of components in non-operating direction is partly canceled by the operation of an object balance control device 202, and the remaining part is canceled by correcting the sum of components in target object reaction moment operating direction acting on the center point of the target total floor reaction, specifically by correcting the operation of an arm link to vary the sum of components in the operating direction.


Inventors:
Toru Takenaka
Tadaaki Hasegawa
Takashi Matsumoto
Application Number:
JP2002129919A
Publication Date:
October 11, 2006
Filing Date:
May 01, 2002
Export Citation:
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Assignee:
Honda motor industry stock company
International Classes:
A63H11/18; B25J5/00; B25J13/00; B62D57/02; B62D57/032; (IPC1-7): B25J13/00; A63H11/18; B25J5/00
Domestic Patent References:
JP7205070A
JP10230485A
Attorney, Agent or Firm:
Yutaka Yoshida