Title:
BIPED WALKING MOVABLE APPARATUS, AND WALK CONTROL APPARATUS AND METHOD FOR THE SAME
Document Type and Number:
Japanese Patent JP3574951
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: 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.
SOLUTION: 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.
Inventors:
Takayuki Furuta
Yu Okumura
Tetsuo Tahara
Hiroaki Kitano
Yu Okumura
Tetsuo Tahara
Hiroaki Kitano
Application Number:
JP2001386693A
Publication Date:
October 06, 2004
Filing Date:
December 19, 2001
Export Citation:
Assignee:
Japan Science and Technology Agency
Hiroaki Kitano
Hiroaki Kitano
International Classes:
B25J13/08; B25J19/02; B62D57/032; B25J5/00; (IPC1-7): B25J5/00; B25J13/08; B25J19/02
Domestic Patent References:
| JP332582A | ||||
| JP9212203A | ||||
| JP2001277159A | ||||
| JP3184781A |
Attorney, Agent or Firm:
Kazuyuki Hirayama
Kaizu Hozo
Kaizu Hozo
Previous Patent: SHIELD DEVICE FOR SMALL-SIZED INPUT DEVICE
Next Patent: BIPEDAL MOVEMENT DEVICE AND WALKING CONTROL DEVICE FOR THE DEVICE
Next Patent: BIPEDAL MOVEMENT DEVICE AND WALKING CONTROL DEVICE FOR THE DEVICE