FLOOR SHAPE DEDUCING DEVICE FOR LEGGED MOBILE ROBOT

Title:

FLOOR SHAPE DEDUCING DEVICE FOR LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2001/087548

Kind Code:

A1

Abstract:

A floor shape deducing device for a legged mobile robot, especially a two-legged walking robot. The floor shape, more specifically, the leg-to-leg floor slant difference is deduced on the basis of at least the control difference of the total floor reaction force moment, the both-leg compensation angle is corrected on the basis of the deduction value, the floor shape, more specifically, the feet floor slant difference is deduced on the basis of at least the control difference of the feet floor reaction force moment around the desired feet floor reaction force central point, and the feet compensation angle is corrected on the basis of the deduction value. In such a way, the shape of the floor with which the legs of a legged mobile robot is in contact can be deduced with high accuracy. If the floor shape is different from the assumed one, the influence is absorbed and thereby a desired floor reaction force is generated.

Inventors:

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

Application Number:

PCT/JP2001/004118

Publication Date:

November 22, 2001

Filing Date:

May 17, 2001

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; B62D57/02; B62D57/024; B62D57/032; B25J13/08; (IPC1-7): B25J5/00; B25J13/08; B62D57/02

Domestic Patent References:

WO1999054095A1

1999-10-28

Foreign References:

US5404086A	1995-04-04
US5311109A	1994-05-10
JPH10277969A	1998-10-20

Other References: