Title:
REMOTE CONTROL SYSTEM FOR MOBILE ROBOT WITH LEGS
Document Type and Number:
Japanese Patent JP3667914
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a remote control system for a leg type mobile robot, with which the foot bottom part of the robot and the foot bottom part of an operator receive the same working force and the robot can work in different environments of various floor shapes.
SOLUTION: Using a master device M the upper body and foot bottom part of an operator are movably supported by an upper body supporting mechanism 14 and a foot bottom supporting mechanism 15, respectively, and the foot bottom working force of a robot is sensed by a sensor mounted on it while the foot bottom working force of the operator is sensed by a sensor 29. On the basis of the sensed values of foot bottom working forces, the target foot bottom position/attitude of the robot and operator are decided so that they meet the specified relationship, and the motions of the robot legs and the foot bottom supporting mechanism 15 are controlled. The upper body supporting mechanism 14 is inclined in compliance with the inclination of the robot upper body.
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Inventors:
Toru Takenaka
Application Number:
JP1846897A
Publication Date:
July 06, 2005
Filing Date:
January 31, 1997
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/04; B62D57/02; G05D3/12; (IPC1-7): B25J5/00; B25J13/04; G05D3/12
Domestic Patent References:
| JP8216066A | ||||
| JP11500249A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba
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