Legged walking robot and motion control method therefor

Details Legged walking robot and motion control method therefor Legged walking robot and motion control method therefor

2007-10-09

2007-10-09

Winner, Tony (Department: 3611)

Motor vehicles

Special driving device

Stepper

C700S253000, C901S009000

Reexamination Certificate

active

10398070

ABSTRACT:
In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.

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