Biped walking mobile system, its walk controller, and walk...

Details Biped walking mobile system, its walk controller, and walk... Biped walking mobile system, its walk controller, and walk...

2006-01-31

2006-01-31

Fletcher, Marlon T. (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C318S568110, C700S245000, C700S250000, C901S001000

Reexamination Certificate

active

06992456

ABSTRACT:
The present invention provides a biped (two-footed) walking mobile system, its walk controller, and walk control method therefore, which are to realize enhancing an walk stability, as well as a consumed energy saving. A walk controller (30) of a biped walking mobile system forms a gait data by a gait forming part (33) based on parameters from a gait stabilizing part (32), and drive-controls drive means of respective joint portions (15L,15R–20L,20R) of each leg portion based on said gait data. In this case, the walk controller (30) is so constituted as to selectively witch a powered mode to conduct ordinary drive-control and a passive mode to drive-control the drive means similarly with passive joints, whereby drive-controlling respective joint portions. The walk controller (30) preferably switches the drive and passive modes with respect to, for example, joint portions of knee and foot portions, or switches to the powered mode for kick-up and landing during walking motion, and to the passive mode for a free foot state.

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Notification of Transmittal of Copies of Translation of the International Preliminary Examination Report dated Jul. 15, 2004 and received by our foreign associate on Jul. 20, 2004.

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