Title:
SYSTEM FOR ESTIMATING ATTITUDE OF LEG TYPE MOVING ROBOT ITSELF
Document Type and Number:
WIPO Patent Application WO/2003/090979
Kind Code:
A1
Abstract:
A system for estimating acceleration of the motion of an acceleration sensor itself being generated through motion of a robot (1) mounting a gyro sensor (angular speed sensor) and the acceleration sensor on the upper body (3), or the like, using motion state amounts of the robot (1) including the target motion of target gait, a detected displacement value of joint, a target displacement value of joint, and the like, thereof and then estimating the actual attitude at a specified part, e.g. the upper body (3), of a robot (1) based on the acceleration of motion, a detected acceleration value of the acceleration sensor and a detected angular speed value of an angular speed sensor. Error in the estimated value of actual attitude at the specified part is then estimated based on the difference between the detected acceleration value and the acceleration of motion, and input of a means for integrating the detected angular speed value is corrected to bring that error close to zero thus obtaining the estimated of actual attitude from the output of the integrating means. According to the arrangement, actual attitude at a specified part can be estimated accurately.
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Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
MATSUMOTO TAKASHI (JP)
Application Number:
PCT/JP2003/005447
Publication Date:
November 06, 2003
Filing Date:
April 28, 2003
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
International Classes:
B25J13/08; B62D57/02; B62D57/032; G01C19/00; G01C21/16; G01P15/18; (IPC1-7): B25J5/00; B25J13/00
Foreign References:
| US6064167A | 2000-05-16 | |||
| JPH09272083A | 1997-10-21 | |||
| JP2001138272A | 2001-05-22 | |||
| JP2002144260A | 2002-05-21 | |||
| EP1120203A1 | 2001-08-01 | |||
| JPH1086080A | 1998-04-07 |
Other References:
See also references of EP 1508408A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
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