Walking robot using simple ground reaction force sensors and...

Details Walking robot using simple ground reaction force sensors and... Walking robot using simple ground reaction force sensors and...

2007-09-04

2007-09-04

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S250000, C318S568200, C901S001000

Reexamination Certificate

active

10745996

ABSTRACT:
A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

REFERENCES:
patent: 6243623 (2001-06-01), Takenaka
patent: 6580969 (2003-06-01), Ishida et al.
patent: 6992457 (2006-01-01), Furuta et al.
patent: 2003/0144763 (2003-07-01), Mori et al.
patent: 2005/0240307 (2005-10-01), Kuroki et al.

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