Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1998-02-02
1998-11-24
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318675, B25J 1304, G05D 312
Patent
active
058412581
ABSTRACT:
A remote control system for remotely controlling a legged moving robot has a master unit for manipulating the legged moving robot in a master-slave configuration. The master unit has a foot support mechanism for movably supporting an operator's foot, an actuating device for actuating the foot support mechanism, an upper body support mechanism for supporting an operator's upper body, and a master foot acting force detector for detecting forces acting on the operator's foot. The legged moving robot has a robot foot acting force detector for detecting forces acting on a robot's foot from a floor, and a leg actuating device. The remote control system has a foot position/orientation controller for determining a target position and/or orientation for the operator's foot with respect to the operator's upper body and a target position and/or orientation for the robot's foot with respect to the robot's upper body, based on the forces detected by the master and robot foot acting force detectors, in order to associate the forces acting on the operator's foot and the forces acting on the robot's foot with respect to each other in a predetermined relationship, controlling the foot support mechanism with the foot support mechanism actuating device according to the determined target positions and/or orientations for the operator's foot and the robot's foot, and controlling the leg actuating device.
REFERENCES:
patent: 4046262 (1977-09-01), Vykukal et al.
patent: 5038089 (1991-08-01), Szakaly
patent: 5382885 (1995-01-01), Salcudean et al.
Honda Giken Kogyo Kabushiki Kaisha
Ro Bentsu
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