Title:
LEGGED MOBILE ROBOT AND CONTROL METHOD FOR MOVEMENT OF THE ROBOT
Document Type and Number:
Japanese Patent JP2003236781
Kind Code:
A
Abstract:
To enable a robot to stably continue a walking operation even if there is any obstacle on a road surface for the walking of the robot.
An acceleration sensor is fitted to a leg part 150 installed at the tip part of a movable leg, and the main control unit of a robot body detects the presence or absence of the interference of the leg part 150 with the obstacle 500 during the movement of the leg part 150 based on an output from the acceleration sensor. When it is determined that the interference is present, specified avoidance operations (backward and upward movements) are performed and then the movement of the leg part 150 is continued.
Inventors:
KATO KEISUKE
KOIKE TAKASHI
TOSAKA SUSUMU
MORIKAWA HIROAKI
YAMAGUCHI JINICHI
KOIKE TAKASHI
TOSAKA SUSUMU
MORIKAWA HIROAKI
YAMAGUCHI JINICHI
Application Number:
JP2002038003A
Publication Date:
August 26, 2003
Filing Date:
February 15, 2002
Export Citation:
Assignee:
SONY CORP
YAMAGUCHI JINICHI
YAMAGUCHI JINICHI
International Classes:
A63H11/18; B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00; A63H11/18; B25J13/08; B62D57/032
Attorney, Agent or Firm:
Hitoshi Maeda (2 outside)