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

1993-04-27

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

3185681, 31856822, 901 1, 901 9, 180 81, 395 95, G05B 1900

Patent

active

052065693

ABSTRACT:
A servo system for controlling the locomotion of a biped walking robot, having a body link and two leg linkages each connected to the body link and each including knee joint and ankle joint connecting an upper link and a lower link, 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 cushion shock received at robot foot landing, moment generated at foot landing is detected and drive speed of the joints is feedback controlled in proportion to the detected moment so as to carry out a virtual compliance control on the robot foot.

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