LEGGED MOBILE ROBOT AND CONTROL PROGRAM

Title:

LEGGED MOBILE ROBOT AND CONTROL PROGRAM

Document Type and Number:

WIPO Patent Application WO/2006/064597

Kind Code:

A1

Abstract:

In a legged mobile robot, a pivoting motion of a foot sole (22) relative to a leg body is controlled so that, from an intermediate time point in a period of departure of a leg body from a floor to a starting time point of a period of landing of the leg body on the floor, the angle (Ѳ) of inclination of the foot sole (22) of the leg body relative to the floor surface gradually approaches zero. This eases impact to the foot sole of the leg body at the time of landing on the floor and prevents a slip and spin of the foot sole, thereby enabling stable walking or running.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
SHIROKURA SHINYA (JP)
ASATANI MINAMI (JP)

Application Number:

PCT/JP2005/016890

Publication Date:

June 22, 2006

Filing Date:

September 14, 2005

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
SHIROKURA SHINYA (JP)
ASATANI MINAMI (JP)

International Classes:

B25J13/08; B25J5/00

Domestic Patent References:

WO2003057429A1

2003-07-17

Foreign References:

JP2003236777A	2003-08-26
JPH05318342A	1993-12-03
US5838130A	1998-11-17

Other References: