BIPEDAL WALKING TYPE MOVING DEVICE, AND WALKING CONTROL DEVICE AND WALKING CONTROL METHOD THEREFOR

Title:

BIPEDAL WALKING TYPE MOVING DEVICE, AND WALKING CONTROL DEVICE AND WALKING CONTROL METHOD THEREFOR

Document Type and Number:

WIPO Patent Application WO/2003/051582

Kind Code:

A1

Abstract:

The invention provides a bipedal walking type moving device so designed that even in a road surface state giving an unstable footing, such as a wet floor surface, ice, a muddy place, or a thick carpet, or even when only a portion is landing on a floor surface owing to surface irregularities, for example, walking stability is realized, and it also provides a walking control device and a walking control method therefor. A walking control device (30) for a bipedal walking type moving device comprises force sensors (23L, 23R) for detecting forces on the soles of feet (14L, 14R) for drive−controlling driving means for the joints (15L, 15R − 20L, 20R) of the legs of the bipedal walking type moving device in the basis of gait data, and a compensation section (32) for correcting gait data from a gait producing section (24) on the basis of horizontal floor reaction components of the forces detected by the force sensors, wherein each force sensor (23L, 23R) is composed of three−axis force sensors disposed in the plurality of divisional areas of the sole of each foot (14L, 14R).

Inventors:

KITANO HIROAKI (JP)
FURUTA TAKAYUKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)

Application Number:

PCT/JP2002/012057

Publication Date:

June 26, 2003

Filing Date:

November 19, 2002

Export Citation:

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Assignee:

JAPAN SCIENCE & TECH CORP (JP)
KITANO HIROAKI (JP)
FURUTA TAKAYUKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)

International Classes:

B25J13/08; B25J5/00; B25J19/02; B62D57/032; (IPC1-7): B25J5/00

Domestic Patent References:

WO2001074546A1

2001-10-11

Foreign References:

EP0406018A1	1991-01-02
JPH09212203A	1997-08-15
EP0433091A2	1991-06-19
US5455497A	1995-10-03
JPH07205069A	1995-08-08
JPH07121214A	1995-05-12

Other References: