Legged mobile robot and control program for the robot

Details Legged mobile robot and control program for the robot Legged mobile robot and control program for the robot

2005-09-14

2010-12-28

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C901S001000, C318S568110, C318S568120

Reexamination Certificate

active

07860613

ABSTRACT:
A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.According to a robot1in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism42that occurs due to a desired floor reaction force of a foot (ground contacting portion)22is determined, and the operation of a leg2is controlled such that the foot22lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

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