Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
WALKING CONTROL DEVICE FOR LEG TYPE MOVING ROBOT
Document Type and Number:
Japanese Patent JP3167407
Kind Code:
B2
Abstract:

PURPOSE: To perform stable walking of a robot even when it confronts an unexpected uneven road surface by providing a detecting means to detect the posture of the robot and varying a given time when the robot is in a given posture.
CONSTITUTION: A pair of inclination sensors are installed to the upper part of the drum part of a robot. The target angle, the target joint angle qc (a relative angle), and the target joint angular velocity dqc (a relative angular velocity) of the drum part of the robot are outputted at each DTsec (specified value) in relation of twelve joints. The inclination angle θy of the drum part of the robot is detected, and when the robot is in an unstable posture, a time (t) is varied. Namely, control is made such that when it is decided that an inclination angle exceeds θy-max, correction is effected such that a value Δt exceeds a specified value DT. Data preceding an estimated value in terms of a time forms a target angle, and when the robot is brought into a forward inclination state on an uneven road surface, an idle leg is caused to touch a ground at an earlier time than a scheduled time. When the robot is brought into a backward inclination state, the idle leg is caused to touch the ground at a later time than the scheduled time.


Inventors:
Hideo Takahashi
Application Number:
JP8811092A
Publication Date:
May 21, 2001
Filing Date:
March 12, 1992
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/08; B62D57/032; G05B19/00; (IPC1-7): B25J5/00
Domestic Patent References:
JP23580A
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)