Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-03-03
1994-10-11
IP, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856811, 180 81, 180 86, 901 9, 901 1, 395 88, B25J 1100, B25J 900
Patent
active
053550641
ABSTRACT:
A legged mobile robot control system for enabling the mobile robot, more particularly a biped walking robot to walk stably even over terrain with unexpected irregularities. The robot's motion is approximated by a mathematical model and a mathematical control is conducted, while controlling the robot's attitude on the basis of a walking pattern established in advance, without need to use a high-speed on board computer for non-linearlity compensation. In another embodiment made up of a more simple arrangement, when the foot angle deviates from that on flat terrain owing to the foot stepping on a bump, the foot angle is estimated and joints are driven such that the robot's center of gravity is restored in a predetermined target trajectory. In still another embodiment, the robot body's inclination angle and/or angular velocity is determined and the hip joints connecting the body with two legs are driven to restore a predetermined stable attitude.
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Kobayashi Minoru
Ozawa Nobuaki
Takahashi Hideo
Yoshino Ryutaro
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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