TWO-LEG WALKING MOVING DEVICE

WIPO Patent Application WO/2003/068453

A1

A two-leg walking moving device comprising join-use drive motors for respectively swinging leg-swinging joints (15L, 15R) of the waist, rolling-direction joints (16L, 16R) of the waist, pitch-direction joints (17L, 17R) of the waist, pitch-direction joints (18L, 18R) of knees (12L, 12R), pitch-direction joints (19L, 19R) of ankles with respect to feet (14L, 14R), and roll-direction joints (20L, 20R) of ankles, and a walking control device (30) for producing gait data at a gait generation unit (31) in response to a motion command and drive-controlling respective drive motors at a control unit (32) based on this gait data, wherein the gait generation unit (31) detects a robot’s attitude based on sensor information from an angle detection sensor (24) for detecting the walking conditions of respective joints and from ZMP detection sensors (23L, 23R) for detecting ZMP at each foot, produces in real time angle command values as final gait data from a target value by a motion command and the current values of sensor information based on this attitude, acquires environmental information for each walk, and controls a walk in real time according to this environmental information.

FURUTA TAKAYUKI (JP)
TAWARA TETSUO (JP)
OKUMURA YU (JP)
KITANO HIROAKI (JP)

PCT/JP2003/001325

August 21, 2003

February 07, 2003

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JAPAN SCIENCE & TECH CORP (JP)
FURUTA TAKAYUKI (JP)
TAWARA TETSUO (JP)
OKUMURA YU (JP)
KITANO HIROAKI (JP)

B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25B5/00; B25J13/00

JP5062363B2	2012-10-31
EP1018467A1	2000-07-12
EP0856457A2	1998-08-05

Hirayama, Kazuyuki (Shinjukugyoen Bldg. 2- 3-10, Shinjuk, Shinjuku-ku Tokyo, JP)

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