Apparatus for detecting the landing position of foot sole of leg

Details Apparatus for detecting the landing position of foot sole of leg Apparatus for detecting the landing position of foot sole of leg

1997-12-18

1999-10-26

Shah, Kamini

Data processing: measuring, calibrating, or testing

Measurement system

Orientation or position

36416701, 702152, 31856812, G06F 770

Patent

active

059743662

ABSTRACT:
A legged moving robot has a plurality of movable legs for repeatedly touching and leaving a floor. An apparatus for detecting the landing position of a foot sole of each of the movable legs has a force sensor mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof. The force sensor detects at least a perpendicular force perpendicular to the foot sole and a moment about an axis extending in a lateral direction of the foot sole and passing through a predetermined reference point on the foot sole. A time when the foot sole touches or leaves the floor is detected on the basis of the perpendicular force detected by the force sensor. A landing position for the foot sole to start touching or end leaving the floor is determined on the basis of the perpendicular force and the moment detected by the force sensor, at the detected time or in a predetermined time range near the detected time.

REFERENCES:
patent: 5255753 (1993-10-01), Nishikawa et al.
patent: 5402050 (1995-03-01), Ozawa
patent: 5513106 (1996-04-01), Yoshino et al.
patent: 5594644 (1997-01-01), Hasegawa et al.
patent: 5737217 (1998-04-01), Nishikawa et al.
English language translation of Abstract of JP 3-184781.
English language translation of Abstract of JP 7-205085.

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