Title:
WALK CONTROL DEVICE FOR LEG TYPE MOVING ROBOT
Document Type and Number:
Japanese Patent JP3073306
Kind Code:
B2
Abstract:
PURPOSE: To enable turning and the like by correcting a target position for straight-ahead walking in response to a command value, and thereby computing a target joint angle while the value corrected is made to be target position in a robot walking by means of a plural number of leg section links.
CONSTITUTION: The walk control device of a two feet walk robot 1 allows each joint angle to follow each target value so as to be controlled by a control unit 26 via servo motors disposed to respective two joints 10L through 20L, and 10R through 20R provided for a right and a left leg section link 2. In this case, in the control unit 26, time series data including target position information for the specified site of the robot is set in advance, and the reference position of the robot such as the center of gravity and the like at the time of 't' is obtained out of the aforesaid time series data. The deviation of the reference position from a target reference position after the specified period of time has elapsed is obtained in order to compute a target position so as to be outputted as a target joint angle, so that the target position for straight-ahead walking is corrected in response to a command value when a command is directed to change straight-ahead walking.
Inventors:
Hideo Takahashi
Ryutaro Yoshino
Ryutaro Yoshino
Application Number:
JP8811292A
Publication Date:
August 07, 2000
Filing Date:
March 12, 1992
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J9/10; G05D3/12; (IPC1-7): B25J5/00; B25J9/10; G05D3/12
Domestic Patent References:
| JP332582A | ||||
| JP3294190A | ||||
| JP4122585A | ||||
| JP63150176A |
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)