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Title:
CONTROL DEVICE AND METHOD FOR BIPED WALKING ROBOT
Document Type and Number:
Japanese Patent JP2010058253
Kind Code:
A
Abstract:

To provide a control device and method for a biped walking robot improving continuous walking stability on an irregular road surface.

A walking pattern generation part 25 generates a reference walking pattern to be the position to land a sole part 9 by carrying out a reference walking processing to make the biped walking robot 1 walk on a flat road surface G. The control device 5 carries out a road surface adaptation treatment for adapting the biped walking robot 1 to the irregular road surface to generate a course correction pattern when the road surface G is the irregular road surface. The control device 5, on the whole, corrects the reference walking pattern generated by the reference walking processing using the course correction pattern, generates the correction walking pattern, and adapts the biped walking robot 1 to the irregular road surface.


Inventors:
TAKANISHI ATSUO
HAYASHI AKIHIRO
HASHIMOTO KENJI
SAWATO TERUMASA
YOSHIMURA YUKI
ASANO TEPPEI
HATTORI KENTARO
Application Number:
JP2008229532A
Publication Date:
March 18, 2010
Filing Date:
September 08, 2008
Export Citation:
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Assignee:
UNIV WASEDA
International Classes:
B25J5/00; B25J13/00; B62D57/032
Domestic Patent References:
JPH07210250A1995-08-11
JP2004142095A2004-05-20
JP2002307340A2002-10-23
JP2001328083A2001-11-27
JP2001287181A2001-10-16
JP2005074528A2005-03-24
JP2005153119A2005-06-16
Foreign References:
WO2003057429A12003-07-17
Attorney, Agent or Firm:
Mamoru Ushiki
Masayoshi Yoshida
Hiromitsu Imaeda
Umemura Hiroaki



 
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