CONTROLLER FOR LEGGED MOBILE ROBOT

Title:

CONTROLLER FOR LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/1999/054095

Kind Code:

A1

Abstract:

The inclination of the attitude of a robot is measured, the moment of the compensation total floor reaction force around the center point of a desired total floor reaction force is determined and distributed to the feet, and the position and attitude of each foot are determined so as to make a rotation through a predetermined angle around the center point of the desired total floor reaction force and to make a rotation around the center point of each desired foot floor reaction force. By translating the feet in phase, the force component of the real total floor reaction force is also controlled. The inner force component (not influencing the real total floor reaction force) produced by the real floor reaction force of each foot is independently controlled. As a result, the real total floor reaction force and each foot floor reaction force acting on a two-legged walking robot can be adequately controlled, and the robot can walk in a stable attitude on a road surface inclined over a long distance or locally and having projections. Further the landing impacts can be absorbed, therefore the floor-contactability is improved, spinning is prevented, and the burdens on the joint actuators are lightened.

Inventors:

TAKENAKA TORU (JP)
HASEGAWA TADAAKI (JP)
MATSUMOTO TAKASHI (JP)

Application Number:

PCT/JP1999/002075

Publication Date:

October 28, 1999

Filing Date:

April 19, 1999

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
HASEGAWA TADAAKI (JP)
MATSUMOTO TAKASHI (JP)

International Classes:

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

Foreign References:

JPH05318340A	1993-12-03
JPH06182679A	1994-07-05
JPH05200682A	1993-08-10
EP0406018A1	1991-01-02

Other References: