Title:
MOBILE ROBOT AND CREEPING MOVEMENT METHOD THEREOF
Document Type and Number:
Japanese Patent JP2018034239
Kind Code:
A
Abstract:
PROBLEM TO BE SOLVED: To provide a mobile robot which can stably advances on an off-road surface.SOLUTION: A mobile robot 10 comprises plural limbs 11 which can be operated within a prescribed range, a body part 12 which supports each limb 11 and is movable in association with operation of each limb 11, and a control unit 13 for controlling operation of each limb 11, and the robot can perform such a creeping movement as to advance while repeating grounding of each limb 11 and grounding of the body part 12. The control unit 13 comprises reference gait control means 21 in which a reference gait pattern for executing plural phases, in which operation states of each limb 11 and the body part 12 are different, in a prescribed order is stored and which controls operation of each limb 11 according to the reference gait pattern. This reference gait pattern is so set that the body part 12 performs surface grounding, or performs linear grounding or point grounding while a grounding position of an outer peripheral part of the body part 12 being changed in each phase in which the body part 12 grounds the road surface R.SELECTED DRAWING: Figure 1
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Inventors:
TAKANISHI ATSUO
HASHIMOTO KENJI
KOIZUMI FUMINORI
HAMAMOTO SHINYA
SAKAI NOBUAKI
MATSUZAWA TAKASHI
ONO NORIYUKI
HASHIMOTO KENJI
KOIZUMI FUMINORI
HAMAMOTO SHINYA
SAKAI NOBUAKI
MATSUZAWA TAKASHI
ONO NORIYUKI
Application Number:
JP2016168790A
Publication Date:
March 08, 2018
Filing Date:
August 31, 2016
Export Citation:
Assignee:
UNIV WASEDA
MITSUBISHI HEAVY IND LTD
MITSUBISHI HEAVY IND LTD
International Classes:
B25J5/00
Attorney, Agent or Firm:
Hidetoshi Enomoto