Title:
ROBOT MOVING ON LEGS AND CONTROL METHOD THEREFOR, AND RELATIVE MOVEMENT MEASURING SENSOR FOR ROBOT MOVING ON LEGS
Document Type and Number:
WIPO Patent Application WO/2001/074546
Kind Code:
A1
Abstract:
A robot moving on legs, which is provided with a plurality of movable legs, and which has, both provided at the foot of each movable leg, a road surface contact sensor for checking a ground contact condition between a foot and a road surface and also a relative movement measuring sensor for measuring a relative movement between a road surface and a ground-contacting leg. The robot is controlled in its operation based on a relative movement distance between a foot and a road surface as measured by the relative movement measuring sensor, whereby an adaptive operation control is permitted to perform an operation even when an actual path is deviated from a scheduled or planned path.
Inventors:
YAMAGUCHI JINICHI (JP)
HATTORI YUICHI (JP)
HATTORI YUICHI (JP)
Application Number:
PCT/JP2001/002895
Publication Date:
October 11, 2001
Filing Date:
April 03, 2001
Export Citation:
Assignee:
SONY CORP (JP)
YAMAGUCHI JINICHI (JP)
HATTORI YUICHI (JP)
YAMAGUCHI JINICHI (JP)
HATTORI YUICHI (JP)
International Classes:
B25J19/02; B25J5/00; B25J13/08; B62D57/032; G05D3/12; (IPC1-7): B25J5/00
Foreign References:
| US5357433A | 1994-10-18 | |||
| US5355064A | 1994-10-11 |
Attorney, Agent or Firm:
Koike, Akira (6-4 Toranomon 2-chome Minato-ku, Tokyo, JP)
Download PDF:
Previous Patent: AUXILIARY DEVICE FOR PLACING A HAND DRILL AGAINST A WALL
Next Patent: PLATFORM FOR AUTOMATIC HANDLING MACHINES
Next Patent: PLATFORM FOR AUTOMATIC HANDLING MACHINES