Title:
CONTROL SYSTEM FOR STATIC WALKING ROBOT
Document Type and Number:
Japanese Patent JP3442996
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To change a maximum speed, an adjustable speed, and a length of step according to the height of the center of gravity and realize an efficient walk after sufficient safety is ensured.
SOLUTION: In this control system, by processing data representing a leg length being output signals from leg length sensors 11a-11c and 12a-12c, the approximate value of the center of gravity height of a static walking robot is computed by a center of gravity approximate value computing part 13. Based on the center of gravity approximate value, the limit value of an adjustable speed, the limit value of a maximum speed, and the limit value of a step during walking of the static walking robot are respectively computed and control is effected such that stability of the robot changing according to the level of the height of the center of gravity is adjusted to a constant value. This constitution performs control of a walk by a maximum adjustable speed, a maximum speed, and a maximum step when the center of gravity is low and suppresses an adjustable speed, a speed, and a length step such that a stability margin having the same level as a level available when the center of gravity is lowermost is provided when the center of gravity is high.
Inventors:
Toshimichi Tsumaki
Application Number:
JP12303598A
Publication Date:
September 02, 2003
Filing Date:
May 06, 1998
Export Citation:
Assignee:
MITSUBISHI HEAVY INDUSTRIES,LTD.
International Classes:
B25J5/00; B25J13/00; G05D1/08; B62D57/032; (IPC1-7): B25J5/00; B25J13/00; G05D1/08
Domestic Patent References:
| JP3287388A | ||||
| JP1086080A | ||||
| JP1148170A |
Attorney, Agent or Firm:
Toshiro Mitsuishi (2 outside)
Previous Patent: METHOD AND DEVICE FOR MANUFACTURING ELECTRONIC COMPONENT DEVICE
Next Patent: NONPOWER AIR COMPRESSOR
Next Patent: NONPOWER AIR COMPRESSOR