System for controlling locomotion of legged walking robot

Details System for controlling locomotion of legged walking robot System for controlling locomotion of legged walking robot

1991-11-27

1993-06-22

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

3185681, 901 1, 901 9, 180 81, 180 86, 395 80, G05B 1900

Patent

active

052218830

ABSTRACT:
A servo system for controlling locomotion of a biped walking robot, made up of a body link and two leg linkages each connected to the body link by a first drive joint and each including knee and ankle joints, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in responsive with the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands one of additionally preestablished candidate positions for robot leg landing.

REFERENCES:
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patent: 4437380 (1984-03-01), Yamaguchi
patent: 4551029 (1985-07-01), Aizawa
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"Body Building" produced by Wayne Harlow and Mark Ford 1982.

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