Title:
LEGGED MOBILE ROBOT AND METHOD OF CONTROLLING OPERATION OF THE ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/011535
Kind Code:
A1
Abstract:
A legged mobile robot having legs formed of one or more rotating joints (allowed to have two or more degrees of freedom per joint), wherein the minimum passive degree of freedom (backlash of speed reducer) required for eliminating a dynamic closing error is provided to each leg and the movable range of each leg is properly controlled to speedily perform the operation for switching between a closed link state and an open link state for the outside and the object for operation, whereby, even if an actuator for driving joint parts does not have a means for acquiring torque information, the operation for speedily switching between the closed link state and the open link state can be stably realized.
Inventors:
MORI NAOTO (JP)
IRIBE MASATSUGU (JP)
YAMAGUCHI JINICHI (JP)
IRIBE MASATSUGU (JP)
YAMAGUCHI JINICHI (JP)
Application Number:
PCT/JP2002/007839
Publication Date:
February 13, 2003
Filing Date:
August 01, 2002
Export Citation:
Assignee:
SONY CORP (JP)
MORI NAOTO (JP)
IRIBE MASATSUGU (JP)
YAMAGUCHI JINICHI (JP)
MORI NAOTO (JP)
IRIBE MASATSUGU (JP)
YAMAGUCHI JINICHI (JP)
International Classes:
B25J9/16; B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Foreign References:
| US5343397A | 1994-08-30 | |||
| JP2819323B2 | 1998-10-30 | |||
| US5355064A | 1994-10-11 | |||
| JPH07205069A | 1995-08-08 | |||
| JP2001138271A | 2001-05-22 |
Attorney, Agent or Firm:
Yamada, Eiji (Miyata & Yamada Patent Office Ginza TK
Bldg. 1-, Shintomi 1-chome Chuo-ku Tokyo, JP)
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