Title:
LEG TYPE MOBILE ROBOT AND ITS FLOOR REACTION FORCE DETECTING DEVICE
Document Type and Number:
Japanese Patent JP3726058
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To compactly house displacement sensors in feet parts of a leg type mobile robot with a constraint in space, and to calculate (estimate) not only displacement from their outputs but also floor reaction force.
SOLUTION: The humanoid robot is provided with at least an upper body, a plurality of legs connected to the upper body via first revolute joints, and the feet parts connected to tips of the leg parts via second revolute joints. The displacement sensor for detecting the displacement h is arranged in an interior of a cylindrical elastic body arranged between the second revolute joint and a ground touching end of the feet part, and the floor reaction forces Ffbz, Mfbx and Mfby are estimated (calculated) from the displacement sensor output h by using a model describing displacement and stress generated in the cylindrical elastic body. Aside from the displacement sensor, a floor reaction force detector (a six-axis force sensor) is provided and deterioration or an anomaly in the displacement sensor or the six-axis force sensor or the like is detected (self-diagnosed).
Inventors:
Toru Takenaka
Yo Gomi
Satoshi Shigemi
Takashi Matsumoto
Yo Gomi
Satoshi Shigemi
Takashi Matsumoto
Application Number:
JP2001401491A
Publication Date:
December 14, 2005
Filing Date:
December 28, 2001
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
A63H11/18; B25J5/00; B25J13/08; B25J19/00; B62D57/02; B62D57/032; (IPC1-7): B25J5/00; A63H11/18; B25J13/08
Domestic Patent References:
| JP2000254888A | ||||
| JP852675A | ||||
| JP2002337076A | ||||
| JP2001264132A | ||||
| JP5264375A | ||||
| JP11160150A |
Foreign References:
| WO2001074546A1 |
Other References:
複数種のセンサを用いたフット付き倒立2重振子の制御,日本ロボット学会学術講演会予稿集,日本,日本ロボット学会,1999年 9月 9日,第17巻第3分冊,p.999-1000
Attorney, Agent or Firm:
Yutaka Yoshida