Method and apparatus for dynamic walking control of robot

Details Method and apparatus for dynamic walking control of robot Method and apparatus for dynamic walking control of robot

1987-12-14

1989-05-30

Hill, Mitchell J.

Motor vehicles

Special driving device

Stepper

180 82, 180 86, 901 1, B62D 5702, B25J 500

Patent

active

048342009

ABSTRACT:
A method and an apparatus for dynamic walking control of a biped robot including a torso and a pair of legs with feet which, having a much smaller mass than the torso, make it possible to consider the robot as an inverted pendulum. The legs are equipped with actuators by which their length can be expanded or contracted and with actuators for producing swinging torque between each leg and its foot. The walking of the robot is controlled by detecting the angle between each leg and foot, adjusting the length of at least the leg whose foot is in contact with the ground so as to control the height of the center of gravity of the torso to pass along a straight line of predetermined inclination, and applying torque to act about the ankle of the foot in contact with the ground.

REFERENCES:
patent: 4662465 (1987-05-01), Stewart

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