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Patent Searching and Data


Title:
DEVICE AND METHOD FOR CONTROLLING WALKING OF WALKING ROBOT
Document Type and Number:
Japanese Patent JP3277076
Kind Code:
B2
Abstract:

PURPOSE: To enable a robot to stably carry out dynamic walk by rotating a fore leg and a hind leg so that one of the fore leg and the hind leg is made into contact with the ground while the other one thereof is lifted up from the ground surface, and by changing the lengths of both legs which are therefore alternately made into contact with the ground in a walking direction.
CONSTITUTION: The length of a hind leg 4 is shortened so as to shift the center C of gravity toward the hind leg 4, and accordingly, a substantial part of the weight is exerted to the hind leg 4. Then, the length of a fore leg 3 is shortened while a shoulder joint motor and an elbow joint motor are rotated so that a body 2 is raised in an upright direction I, and accordingly, the front leg 3 is lifted from the ground surface. Then, the robot 1 starts inclining in a direction K about the axis connecting between the ground contact points 4a, 4a of the hind leg 4 as a rotational fulcrum axis, and accordingly, the length of the fore leg 3 is shortened and swung in a direction H. Next, the fore leg 3 is extended so as to be made into contact with the ground in an walking direction. Then, the hind leg 4 is turned in the walking direction about the fore leg 3 as a fulcrum. The above-mentioned steps are repeated.


Inventors:
Torii, Tetsuo
Sakamoto, Takuya
Hosoi, Mitsuo
Matsuda, Tomoo
Application Number:
JP1994000216225
Publication Date:
April 22, 2002
Filing Date:
September 09, 1994
Export Citation:
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Assignee:
KOMATSU LTD
International Classes:
B25J9/16; B25J5/00; B62D57/00; B62D57/032; (IPC1-7): B25J5/00; B25J9/16; B62D57/032
Attorney, Agent or Firm:
木村 高久