TWO-LEGGED WALKING LOCOMOTION APPARATUS AND ITS WALKING CONTROLLER

WIPO Patent Application WO/2003/068462

A1

A walking controller (30) of a two-legged walking locomotion apparatus for driving/controlling joint-driving motors (15L, 15R to 20L, 20R) of the legs of a two-legged walking locomotion apparatus on the basis of gait data. The walking controller (30) comprises force sensing units (23L, 23R) for sensing the force exerted on the sole of each of the legs (14L, 14R) and a compensation unit (32) for correcting gait data from a gait generating unit (24) according to the forces measured by the force sensing units. Each force sensing unit (23L, 23R) is composed of at least three three-axis sensors disposed on the sole of each leg (14L, 14R). The compensation unit (32) corrects gait data according to the sense signals from the three-axis sensors that sense effective forces. Even in the road state that the road surface has complex unevenness, the walking stability of the robot is realized.

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

PCT/JP2003/001324

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)

B25J13/08; B25J5/00; B62D57/02; B62D57/032; (IPC1-7): B25J5/00

WO2002100606A1	2002-12-19
WO2001074546A1	2001-10-11

EP0406018A1	1991-01-02
EP0433091A2	1991-06-19
JP2000254888A	2000-09-19
JPH11160150A	1999-06-18
JPH09212203A	1997-08-15
US5455497A	1995-10-03

See also references of EP 1477283A4
None

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

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