FLOOR SHAPE ESTIMATING DEVICE FOR LEG TYPE MOVING ROBOT

Japanese Patent JP3726009

B2

PROBLEM TO BE SOLVED: To estimate the floor shape on which a leg type moving robot, in particular, a two-leg walking robot steps with high accuracy and to interrupt the estimation of the floor shape under a circumstance having the possibility of the lowering of the accuracy in estimation.
SOLUTION: This floor shape estimating device 130 estimates the estimated floor inclination deviation between both legs θ fdbestmv on the basis of the control deviation of at least the whole floor reactive force moment (compensated whole floor reactive force moment Mdmd), and estimates the estimated flat floor inclination deviation of each leg θ fnestmx on the basis of the control deviation of each leg flat floor reactive force moment at least around a central point of the target flat floor reactive force of each leg. Further an estimation interrupting device (estimation interrupting device for floor inclination deviation between both legs and estimation interrupting device 146 for leg flat floor inclination deviation) judges whether the accuracy in estimation is lowering or not at least on the basis of a walking period of the robot, and interrupts the estimation of the floor shape when the circumstance of the lowering of the accuracy in estimation is judged.

JP2009113190	AUTONOMOUS WORKING ROBOT AND METHOD OF CONTROLLING OPERATION OF AUTONOMOUS WORKING ROBOT
JPS56117847	OPERATING DEVICE OF MATERIAL TO BE FORGED
WO/2024/043368	DRIVING ROBOT

Toru Takenaka
Tadaaki Hasegawa
Takashi Matsumoto

JP2000147949A

December 14, 2005

May 19, 2000

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Honda motor industry stock company

B25J5/00; B62D57/02; B62D57/024; B25J13/08; B62D57/032; G05D3/12; (IPC1-7): B25J5/00; B25J13/08; G05D3/12

JP11320461A
JP4141379A
JP61193973A

Yutaka Yoshida

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