Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1993-04-09
1995-01-03
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
3185681, 31856816, 180 81, B25J 1100, B25J 900
Patent
active
053789695
ABSTRACT:
A system for controlling navigation, more particularly a current position recognition for a biped walking robot in a navigation environment. A map of the environment is prepared in advance. In the map shape features of an object such as stairs are predesignated. The robot has a vision sensor and in its navigation, the robot recognizes its current position from the shape feature. Evaluation functions are also preestablished for selecting one pair among the shape features, which are defined with respect a distance between the object and the robot and an angle determined by a pair of shape features in such a manner that two shape features existing not far from the robot and an angle determined by the two shape features are relatively large. A path is predesignated and robot motion is described in terms of basic walking patterns such as strait forward, direction change and step length adjustment. More specifically, robot joints are driven to realize the described motion such that the robot walks along the path.
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Journal of the Artificial Intelligence Association, vol. 5.
Honda Giken Kogyo Kabushiki Kaisha
Ip Paul
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