Boots – shoes – and leggings
Patent
1993-02-25
1995-06-20
Teska, Kevin J.
Boots, shoes, and leggings
36442401, 364463, 180 86, 180 81, 180 82, 901 33, 901 1, 31856812, 395 80, 395 95, 395 85, 414734, 414730, G06F 770
Patent
active
054265860
ABSTRACT:
A system for controlling the locomotion of a biped walking robot by absorbing the footfall impact such that the robot walks stably. In advance, constraint conditions for the robot such as a coordinates position of the robot's center of gravity for the robot to assume a predetermined attitude are preestablished and in walking, robot's joint angles are determined inverse kinematically from the preestablished attitude constraint conditions. The ground reaction force generated at the footfall is detected and a correction amount required for shifting the center of gravity in the impact force absorbing direction is calculated. The attitude constraint conditions are recalculated in response to the correction amount and then the robot's joint angles are recalculated from the corrected attitude constraint conditions in three-dimensional, or at least in one of two-dimensional planes. Instead of the center of gravity, the robot's hip section can be used.
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Honda Giken Kogyo Kabushiki Kaisha
Louis-Jacques Jacques H.
Teska Kevin J.
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