Title:
LEG-TYPE MOVING ROBOT AND FLOOR REACTION FORCE DETECTION DEVICE THEREFOR
Document Type and Number:
WIPO Patent Application WO/2003/057421
Kind Code:
A1
Abstract:
A displacement sensor (70) for producing an output showing the displacement of the ground-contact end of a foot unit (22) with respect to a second joint (18, 20) is provided inside or in the vicinity of an elastic element (382), and a floor reaction force acting on a foot unit based on an output from the displacement sensor is calculated by using a model that describes the relation between displacement and stress produced at an elastic element according to the displacement of the sensor, whereby it is possible to calculate a floor reaction force accurately and let a leg-type moving robot (1) walk further more constantly. In addition, dissimilar detection means are combined to form a dual system of sensors for an improved reliability in detection. A reliability in detection is further improved by a displacement sensor or the like that self-diagnoses whether or not it is deteriorated or abnormal and by temperature compensation without the provision of a temperature sensor.
Inventors:
TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)
Application Number:
PCT/JP2002/013295
Publication Date:
July 17, 2003
Filing Date:
December 19, 2002
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)
TAKENAKA TORU (JP)
GOMI HIROSHI (JP)
SHIGEMI SATOSHI (JP)
MATSUMOTO TAKASHI (JP)
International Classes:
A63H11/18; B25J5/00; B25J13/08; B25J19/00; B62D57/02; B62D57/032; (IPC1-7): B25J5/00
Domestic Patent References:
| WO2001074546A1 | 2001-10-11 |
Foreign References:
| JP2000254888A | 2000-09-19 | |||
| JPH0852675A | 1996-02-27 | |||
| JP2002337076A | 2002-11-26 | |||
| JP2001264132A | 2001-09-26 | |||
| JPH05264375A | 1993-10-12 | |||
| JPH11160150A | 1999-06-18 |
Other References:
TOMOKAZU KATO: "Fukusushu no sensor o mochiita foot-tsuki toritsu niju furiko no seigyo", THE ROBOTICS SOCIETY OF JAPAN GAKUJUTSU KOENKAI YOKOSHU, vol. 17, no. 3, 9 September 1999 (1999-09-09), pages 999 - 1000, XP002967100
See also references of EP 1475194A4
See also references of EP 1475194A4
Attorney, Agent or Firm:
Yoshida, Yutaka (20-2 Higashi Ikebukuro 1-chom, Toshima-ku Tokyo, JP)
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