CONTROL DEVICE FOR MOBILE BODY - HONDA MOTOR CO LTD

Title:

CONTROL DEVICE FOR MOBILE BODY

Document Type and Number:

WIPO Patent Application WO/2005/051612

Kind Code:

A1

Abstract:

A robot has a base body (53) and link mechanisms (52, 54) connected to the base body. A sensor (90) is provided at a predetermined section (knee) between the base body (53) and a top section (foot sole)(58) of a link mechanism (leg) (52). In an attitude of a robot (61) where the predetermined section (knee) is made to be in contact with the ground, displacement of at least a joint (55) between the base body (53) and the predetermined position (knee) is controlled to cause an external force (floor reaction force) detected by the sensor (90) to approach a target external force. External forces acting on portions other than the top sections of the leg and arm are appropriately controlled with the portions in contact with a floor etc. and receiving external forces, and as a result, the attitude of the robot (61) is maintained in a stable state.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

Application Number:

PCT/JP2004/018096

Publication Date:

June 09, 2005

Filing Date:

November 29, 2004

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

International Classes:

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

Domestic Patent References:

WO2003090978A1

2003-11-06

Foreign References:

JP2001150370A	2001-06-05
JP2002361575A	2002-12-18
JP2001062760A	2001-03-13

Other References: