To provide a biped walking movable apparatus, and a walk control apparatus and method for the same, by which stability of the walk is achieved even on such a slippery unstable floor that a sole slips.
The walk control apparatus 30 of the biped walking movable apparatus, which drivingly controls driving means of each articular portion of each foot portion of the walk control apparatus of the biped walking movable apparatus based on walking pattern data, is configured such that force sensors 23L, 23R for detecting the forces applied to the soles of respective feet 14L, 14R, and a compensating section 32 for correcting the walking pattern data from a walking pattern generating section based on the horizontal floor reaction F among the forces detected by the force sensors are included therein, and the respective force sensors 23L, 23R are composed of three axis force sensors 36a to 36f provided on the respective parts, divided into a plurality of parts, of the soles of the respective feet 14L, 14R.
OKUMURA HISASHI
TAWARA TETSUO
KITANO HIROAKI
KITANO HIROAKI
| JPH0332582A | 1991-02-13 | |||
| JPH09212203A | 1997-08-15 | |||
| JP2001277159A | 2001-10-09 | |||
| JPH03184781A | 1991-08-12 |