Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-03-29
1994-05-10
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856812, 31856816, 901 1, 180 81, B25J 1100, B25J 900
Patent
active
053111095
ABSTRACT:
A locomotion control system of a biped walking robot having a body and two articulated legs including ankle joints and connected to the body. A mathematical model is predesigned to approximate the robot. The mathematical model is assumed to have ideal rigidity and based on the model target angles of the joints including the ankle joints are preestablished in advance. Robot joints are provided with servo motors and control values are determined on the basis of the target joint angles to drive the servo motors to follow the target joint angles. A sensor is provided to detect moment acting on the ankle joints or the legs. The detected moment is multiplied by a gain made up of the reciprocal number of the amount of rigidity of the ankle joints. And based on the product, the control value is corrected so as to compensate the deformation. As a result, the discrepancy between the model and the actual robot is compensated so that, not only the robot can walk more stably, but the freedom of possible compliance control can be increased. Moreover, the legs can have low weight and inertia so that the walking stability can be further enhanced.
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Article, "A Torque Sensing Technique Using Elasticity of Harmonic Drives and its Application to Toruqe Control" (JP) with a brief description in English Patent Abstract in English of JP62-97006.
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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