Boots – shoes – and leggings
Patent
1993-05-26
1995-10-17
Teska, Kevin J.
Boots, shoes, and leggings
36442401, 364151, 364164, 36416701, 180 86, 180 81, 180 82, 3185681, 31856812, 901 1, 901 9, 901 33, 395 95, G05B 1700
Patent
active
054596599
ABSTRACT:
A system for controlling attitude stabilization of a biped mobile robot having a trunk and two legs each connected to the trunk such that it walks on the ground. The system generates a desired walking pattern of the robot in such a manner that ground reaction force moment acting on the robot when the robot's leg comes into contact with the ground is at a desired position and is provided with a first model made up of an inverted pendulum and simulating dynamics of the robot and a second model simulating the mechanical structure of the robot such that the second model is assumed to walk on the ground in accordance with the desired walking pattern. An inclinatory error of the robot's trunk is detected relative to the second model. A manipulated variable is determined in terms of moment in response to the detected inclinatory error and supplying it to the first model such that the inverted pendulum is rotated about its pivot point by an amount corresponding to the manipulated variable. A positional variation of an upper portion of the inverted pendulum (corresponding to the trunk) is detected, resulting from the rotation therefrom, to correct the motion of the second model in response to the detected positional variation. Robot's joints are controlled to follow the motion of the second model, thereby, the robot can move stably over the ground.
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Honda Giken Kogyo Kabushiki Kaisha
Louis-Jacques Jacques H.
Teska Kevin J.
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