Title:
脚式移動ロボットの自己姿勢推定装置
Document Type and Number:
Japanese Patent JP4181113
Kind Code:
B2
Abstract:
A system for estimating a posture angle of a predetermined part of a leg type moving robot (1), such as a body (3), including a posture angular velocity detecting means for detecting a posture angular velocity of the predetermined part of the robot (1), a drift correction value determining means for determining a drift correction value relative to a detected value of the posture angular velocity in a state in which a motion of the robot (1) is stopped, and an integrating means for integrating at least a posture angular velocity obtained by correcting a detected value of the posture angular velocity detecting means by the drift correction value while the robot (1) is in motion, so as to estimate a posture angle of the body (3) or other predetermined part.
Inventors:
Toru Takenaka
Takashi Matsumoto
Takashi Matsumoto
Application Number:
JP2004501988A
Publication Date:
November 12, 2008
Filing Date:
April 28, 2003
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/08; B62D57/02; B62D57/032; G01C19/00; G01C21/16; G01P15/18
Domestic Patent References:
| JP11048170A | ||||
| JP9272083A | ||||
| JP2001138272A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba