Moving body, legged mobile robot, and control program

Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems

Reexamination Certificate

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Details

C318S568200, C318S568240, C901S001000

Reexamination Certificate

active

07148645

ABSTRACT:
According to a legged mobile robot of the present invention, a variable measuring portion101measures the changing amount of a secondary desired angle θT2, namely, of the newest primary desired angle θT1that is received by a first sub-control unit121as a variable δ. When a determining portion102determines that an absolute value of the variable δ exceeds a threshold ε, a correcting portion103corrects a motor current I so as to inhibit the changing amount of the motor current I. Thereby, even when an abnormality is temporarily generated in the communication between a main control unit110and a first sub-control unit121via a first communication line and the absolute value of the variable δ exceeds a threshold ε, the current supply I to a motor131is inhibited from changing rapidly.

REFERENCES:
patent: 4475160 (1984-10-01), Inaba
patent: 5363474 (1994-11-01), Sarugaku et al.
patent: 6208105 (2001-03-01), Kato et al.
patent: 6377869 (2002-04-01), Watanabe et al.
patent: 2001-022446 (2001-01-01), None
patent: 2003-211379 (2003-07-01), None

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