Robot apparatus and walking control method thereof

Details Robot apparatus and walking control method thereof Robot apparatus and walking control method thereof

2004-09-07

2008-08-26

Tran, Khoi H. (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S250000, C700S253000, C700S258000, C700S259000, C318S568160, C318S568120

Reexamination Certificate

active

07418312

ABSTRACT:
An object of the present invention is to provide a robot apparatus and a walking control method thereof capable of changing walking control modes in accordance with floor surfaces by discriminating states of the floor surfaces for walking without modifying a step-based walking schedule and capable of providing stable walking even if floor surface states change greatly.A robot apparatus comprises: an action control section11to output a walking start instruction; a floor surface discrimination section12to discriminate a category for a current floor surface; and a walking control section13to compute an adaptive operation amount. The walking control section13obtains sensor values of a foot sole sensor and the like from the current floor surface by means of an in-place stepping motion and the like. Based on the sensor value, the walking control section13computes the adaptive operation amount as a correction amount from a standard gait model. The floor surface discrimination section12performs pattern recognition for the adaptive operation amount to discriminate the category for the current floor surface. The walking control section13is supplied with the floor surface category and selects an optimum walking model for the floor surface category. Again from the sensor value, the walking control section13computes the adaptive operation amount as a correction amount for the sensor value and provides walking control accordingly.

REFERENCES:
patent: 6374155 (2002-04-01), Wallach et al.
patent: 6534943 (2003-03-01), Hornby et al.

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