To compactly house displacement sensors in feet parts of a leg type mobile robot with a constraint in space.
The humanoid robot is provided with at least an upper body, a plurality (two) of legs connected to the upper body via first revolute joints, and the feet parts connected to tips of the leg parts via second revolute joints. Four cylindrical elastic bodies 382 are arranged between the second revolute joint and a ground touching end of the feet part, the displacement sensor 70 is arranged in a space defined by upper and lower ends ht of the cylindrical elastic bodies, and a displacement Ln of the ground touching end of the feet part with respect to the second revolute joint is detected. An anomaly of the displacement sensor 70 is detected (self-diagnosed) by using its degree of redundant freedom.
GOMI HIROSHI
SHIGEMI SATOSHI
MATSUMOTO TAKASHI
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