SYSTEM FOR ESTIMATING ATTITUDE OF LEG TYPE MOVING ROBOT ITSELF

Title:

SYSTEM FOR ESTIMATING ATTITUDE OF LEG TYPE MOVING ROBOT ITSELF

Document Type and Number:

WIPO Patent Application WO/2003/090981

Kind Code:

A1

Abstract:

A system for estimating the attitude angular speed at a specified part, e.g. the upper body (3) or the like, of a robot (1) mounting a gyro sensor (angular speed sensor) on the upper body (3) under motion stop state of the robot when no slip is present between the robot and the floor using motion state amounts of the robot (1) including the target motion of target gait style, a detected displacement value of joint, a target displacement value of joint, and the like, and then estimating the attitude angle at the specified part by integrating the detected attitude angular speed value corrected by a drift correction value of the angular speed sensor determined based on the difference between the estimated value of attitude angular speed and the attitude angular speed value detected by the angular speed sensor.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)

Application Number:

PCT/JP2003/005449

Publication Date:

November 06, 2003

Filing Date:

April 28, 2003

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (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
EP1398121A1	2004-03-17

Other References: