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Patent Searching and Data


Title:
WALK CONTROL DEVICE OF LEG TYPE MOBILE ROBOT
Document Type and Number:
Japanese Patent JPH08216066
Kind Code:
A
Abstract:

PURPOSE: To simultaneously control the whole joints of a human type link mechanism without being conscious of a movement of the respective joints by tracing the movement of an operator by the human type link mechanism, and feeding back a load of the external world applied to the human type link mechanism to the operator.

CONSTITUTION: When the joint number of a human type link mechanism is set in three freedom degrees in a body link and in six freedom degrees in an arm part link and a leg part link, though the joint number of the whole body becomes 27 places, angle sensors 6 and hydraulic actuators 3 are added to these respective joints. Similarly, angle sensors 6 and hydraulic actuators 3 are added to respective joints on the master side having the similar figure with the human type link mechanism. In this case, the respective joints of the link mechanism are composed of a symmetric bilateral type servo, and the master side is installed on the whole body of an operator 12, and angles of the respective joints on the master side are controlled, and the movement of the operator 12 is traced by the slave side, and a load applied to the slave side is fed back to the operator 12.


Inventors:
HASEGAWA SEIICHIRO
Application Number:
JP6856395A
Publication Date:
August 27, 1996
Filing Date:
February 17, 1995
Export Citation:
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Assignee:
HASEGAWA SEIICHIRO
International Classes:
B25J5/00; (IPC1-7): B25J5/00