Title:
LEG-TYPE MOVING ROBOT AND OPERATION CONTROL METHOD FOR THE SAME
Document Type and Number:
Japanese Patent JP3555107
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a leg-type moving robot capable of autonomously and smoothly standing up from its various overturning postures such as falling on its face, falling on its back, falling on its side or the like.
SOLUTION: This leg-type moving robot has a degree of freedom on each roll, pitch and yaw shaft of a body part. The robot can smoothly stand up from an arbitrary overturning posture by using the degree of freedom of the body parts. The concentration of the load to a specific part can be prevented by reducing the load and the required torque to each movable part excluding the body part, and dispersing and averaging the load among the movable parts. As a result, the reliability in the operation of the robot can be improved, and the energy efficiency in a period of the standing-up operation can be improved.
Inventors:
Yuichi Hattori
Kenzo Ishida
Hitoshi Yamaguchi
Kenzo Ishida
Hitoshi Yamaguchi
Application Number:
JP33293499A
Publication Date:
August 18, 2004
Filing Date:
November 24, 1999
Export Citation:
Assignee:
ソニー株式会社
山口 仁一
山口 仁一
International Classes:
B25J9/16; B25J5/00; B25J13/00; B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Domestic Patent References:
| JP2000061872A | ||||
| JP63191582A | ||||
| JP631658A | ||||
| JP6154378A | ||||
| JP7205070A |
Attorney, Agent or Firm:
Eiji Yamada
Masaaki Miyata
Toshio Sawada
Masaaki Miyata
Toshio Sawada
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