System for detecting and controlling the position of a mobile ro

Details System for detecting and controlling the position of a mobile ro System for detecting and controlling the position of a mobile ro

1998-02-09

2000-02-01

Grant, William

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

700245, 180 86, G05D 110

Patent

active

060213639

ABSTRACT:
A system for controlling locomotion of a legged mobile robot walking in a working space. The system is provided with optical detects which are disposed in a line array at the both sides of a foot member of the robot. On the other hand, a landmark is provided in the working space. The landmark comprises of a line or an arc which divides the space into two regions with different attributes, i.e. different in brightness. The optical detectors generate different signals depending on the brightness. With the generated signals, a relative position of the robot to the landmark is detected. Moreover, when the landmark is an arc, its center is located in line with a work for the robot. a relative direction of the robot to the landmark or the work is detected. Based on the detection, locomotion of the robot is controlled in such a manner that the robot can stably ascend/descent stairs or spiral staircases.

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patent: 4811229 (1989-03-01), Wilson
patent: 5378969 (1995-01-01), Haikawa
patent: 5402050 (1995-03-01), Ozawa
patent: 5416393 (1995-05-01), Gomi et al.
patent: 5421426 (1995-06-01), De Beaucourt et al.
patent: 5838130 (1998-11-01), Ozawa

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