Two-legged walding locomotion apparatus and its walking...

Details Two-legged walding locomotion apparatus and its walking... Two-legged walding locomotion apparatus and its walking...

2006-01-31

2006-01-31

Leykin, Rita (Department: 2837)

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

C700S245000, C901S001000

Reexamination Certificate

active

06992457

ABSTRACT:
A walk controller (30) for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (15L,15R–20L,20R) of each leg portion (13L,13R) of a biped walking mobile system based on gait data, includes a force detector (23L,23R) to detect the force allied to a sole of each foot portion (14L,14R), and a compensator (32) to modify the gait data from a gait former (24) based on the force detected by a force detector, and is constituted so that each force detector (23L,23R) comprises at least three 3-axial force sensors (36a,36b,36c) allocated on a sole of each foot portion (14L,14R), and a compensator (32) modifies gait data based on the detected signals from three 3-axial force sensors (36a,36b,36c) which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.

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