Title:
TWO−LEGGED WALKING TYPE HUMAN−SHAPED ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/043787
Kind Code:
A1
Abstract:
A two−legged walking type human−shaped robot (10) comprises a barrel section (11), leg sections (12L, 12R), arm sections (13L, 13R), and a head section (14) and has drive means (11d, 11e&semi 18L, 18R−24L, 24R&semi 28L, 28R−33L, 33R&semi 35, 36) which respectively slew the slewable joints of them and an action controller (50) which controls each drive means. The action controller (50) comprises force sensors (40) provided respectively in parts which project during the action of each section and parts which contact with environments during action and a compensating section (54) that senses the posture of the robot on the basis of the sense signal of each sensor (40) and corrects action data from an action generating section (52) on the basis of this posture. Thus, this robot stabilizes and secures whole−body motions such as defensive motion upon tumbling, stand−up motions, and forward rolling motions.
Inventors:
FURUTA TAKAYUKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)
KITANO HIROAKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)
KITANO HIROAKI (JP)
Application Number:
PCT/JP2002/012054
Publication Date:
May 30, 2003
Filing Date:
November 19, 2002
Export Citation:
Assignee:
JAPAN SCIENCE & TECH CORP (JP)
FURUTA TAKAYUKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)
KITANO HIROAKI (JP)
FURUTA TAKAYUKI (JP)
OKUMURA YU (JP)
TAWARA TETSUO (JP)
KITANO HIROAKI (JP)
International Classes:
A63H11/18; B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00
Foreign References:
| EP0965416A1 | 1999-12-22 | |||
| EP1103451A2 | 2001-05-30 | |||
| EP1018467A1 | 2000-07-12 | |||
| JP2001138271A | 2001-05-22 |
Attorney, Agent or Firm:
Hirayama, Kazuyuki (Shinjukugyoen Bldg. 2- 3-10, Shinjuk, Shinjuku-ku Tokyo, JP)
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