Floor shape estimation system of legged mobile robot

Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control

Reexamination Certificate

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Details

C700S246000, C700S251000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200

Reexamination Certificate

active

06920374

ABSTRACT:
A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a floor shape, more specifically a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and based on the estimated value and corrects a feet compensating angle based on the estimated value. Further, the system estimates a floor shape, more specifically a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. With this, it can accurately estimate the shape of a floor with which the robot is in contact. Further, if the floor shape is different from what has been supposed, it can produce the floor reaction force as desired by absorbing the influence of difference.

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