Title:
LEGGED MECHANISM, WALKING ROBOT, ORIENTATION CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2016/159346
Kind Code:
A1
Abstract:
A walking robot (1) is provided with a torso (20) connected to top parts of two legs (10) so as to be able to change orientation relative thereto, and orientation control parts (105, 106, 107) for stabilizing the orientation of a main body on the basis of the orientations of the legs (10) and the torso (20). The present invention is also provided with state calculation parts (101, 102, 103) for periodically calculating an angular motion amount P1 about ankles of the legs in a standing state and the integrated value PI1 thereof from angle information of the legs (10) and the torso (20), and a stability determination part (104) for determining whether the calculated angular motion amount P1 and the integrated value PI1 thereof are approaching or distancing from target values and outputting a determination result to the orientation control parts (105, 106, 107). Tipping over is thus prevented using angular motion amount about the ankles and the integrated value thereof.
Inventors:
UEMURA MITSUNORI (JP)
MIYAZAKI FUMIO (JP)
HIRAI HIROAKI (JP)
MIYAZAKI FUMIO (JP)
HIRAI HIROAKI (JP)
Application Number:
PCT/JP2016/060915
Publication Date:
October 06, 2016
Filing Date:
April 01, 2016
Export Citation:
Assignee:
UNIV OSAKA (JP)
International Classes:
B25J5/00
Domestic Patent References:
| WO2006040868A1 | 2006-04-20 |
Foreign References:
| JP2005088113A | 2005-04-07 | |||
| JP2008534304A | 2008-08-28 | |||
| US20070016329A1 | 2007-01-18 | |||
| US20130013111A1 | 2013-01-10 |
Attorney, Agent or Firm:
Kaede Patent Attorneys' Office (JP)
Patent business corporation Kaede Patent Attorneys' Office (JP)
Patent business corporation Kaede Patent Attorneys' Office (JP)
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