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Title:
脚式移動ロボットの足平接地状態把握装置
Document Type and Number:
Japanese Patent JP3621808
Kind Code:
B2
Abstract:
A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. A force sensor is mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof, and detects at least a force and a moment based on a reactive force applied from the floor to the foot when the foot is landed on the floor. The foot is tilted along a ridge on the floor by actuators when the foot is landed on the ridge such as the edge of a stair. A position of the center of the reactive force applied from the floor to the foot is recognized on the basis of the force and the moment detected by the force sensor, in a plurality of tilted attitudes of the foot when the foot is tilted. A landed direction and/or a landed position of the foot with respect to the ridge is recognized on the basis of the position of the center of the reactive force recognized in the plurality of tilted attitudes of the foot.

Inventors:
Takai Kawai
Toru Takenaka
Tadaaki Hasegawa
Takashi Matsumoto
Application Number:
JP16454197A
Publication Date:
February 16, 2005
Filing Date:
June 20, 1997
Export Citation:
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Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/08; B25J19/02; B62D57/032; (IPC1-7): B25J5/00; B25J19/02; B62D57/032
Domestic Patent References:
JP5305580A
JP5169378A
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba