Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-05-20
1994-11-29
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856812, 3185681, 180 86, 180 81, 901 1, B25J 1100, B25J 900
Patent
active
053693469
ABSTRACT:
An emergency stop control system for a biped walking robot having a body and two articulated legs each connected to the body. The system has a robot controller for controlling the motion of the robot such that it walks in accordance with a predetermined gait and an emergency stop controller including an acoustic sensor (microphone). The robot operator and persons in a robot's working environment are provided with a whistle and blows it when the robot is likely to collide with them or objects. The sensor picks up the signal to pass it to a band-filter so as a frequency components of 400 Hz is passed to a later stage made up of a microcomputer. In the microcomputer, it is first checked if the signal is larger than a first reference level at an interval and a counter value is incremented if the result of checking is affirmative. Then the counter value is compared with a second reference value and if it exceeds the second reference value, the robot is ascertained to be in a stable attitude. If it is ascertained to be stable, the robot is driven to stop its locomotion.
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Suzaki Yukihiko
Takahashi Hideo
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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