Control system for controlling the knee joint actuators of a leg

Details Control system for controlling the knee joint actuators of a leg Control system for controlling the knee joint actuators of a leg

1998-07-28

2000-05-16

Salata, Jonathan

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

901 1, B25J 500

Patent

active

060641673

ABSTRACT:
A legged moving robot has a plurality of movable legs extending downwardly from an upper body and having actuators associated respectively with joints thereof. A fall judging unit decides whether the robot is likely to fall down while the robot is operating. An actuator controller controls the actuators associated respectively with the joints of the movable legs to lower the center of gravity of the robot when the fall judging unit determines that the robot is likely to fall down.

REFERENCES:
patent: 5221883 (1993-06-01), Takenaka et al.
patent: 5357433 (1994-10-01), Takenaka et al.
patent: 5459659 (1995-10-01), Takenaka
patent: 5513106 (1996-04-01), Yoshino et al.
patent: 5739655 (1998-04-01), Torii et al.
patent: 5808433 (1998-09-01), Tagami et al.
patent: 5842533 (1998-12-01), Takeucki

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