Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Reexamination Certificate
2004-11-29
2009-06-02
Ro, Bentsu (Department: 2837)
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
C318S568200, C318S568110
Reexamination Certificate
active
07541764
ABSTRACT:
A control system for a mobile robot is provided with a base body53and a plurality of link mechanisms52and54connected thereto. A sensor90for detecting external forces is provided on a predetermined portion (knee) between the base body53and a distal portion (foot)58of the link mechanism (leg)52. In a motion posture in which a robot61has a predetermined portion (knee) in contact with the ground, the displacement of at least a joint55between the base body53and the predetermined portion (knee) is controlled so as to bring an external force (floor reaction force) detected by the sensor90close to a desired external force. In a state wherein a portion other than a distal portion of a leg or arm of the robot61is in contact with a floor or the like and subject to an external force, the external force acting on the portion other than the distal portion of the leg or arm is properly controlled, thereby maintaining a stable posture of the robot61.
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Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Honda Motor Co. Ltd.
Paul Antony M
Rankin , Hill & Clark LLP
Ro Bentsu
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