发明名称 |
ANGULAR VELOCITY MEASURING DEVICE AND LEG-MOVING ROBOT |
摘要 |
<p>An angular velocity measuring device (1) includes a first sensor (2) (vibratory gyroscope) and a second sensor (3) (gas rate gyroscope). A detected output of the first sensor (2) is input to a highpass filter (4) and an output of this filter (4) is stored in the time series into a memory (10). Subtraction means (11) sequentially performs operations of subtracting an output (Év'(t-tsd) of the filter (4) at a time a predetermined time period tsd earlier from an output Év'(t) of the filter (4), and addition means (12) sequentially adds the value obtained by the above to an output Ég(t) of the second sensor (3), whereby an angular velocity measurement is obtained. Thereby, it is possible to provide an angular velocity measuring device whose angular velocity measurements are high in response and stability at a low price.</p> |
申请公布号 |
EP1770362(B1) |
申请公布日期 |
2013.05.29 |
申请号 |
EP20050765753 |
申请日期 |
2005.07.13 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
SAOTOME, KOUJI;OKAMOTO, NORIAKI;HIRAYAMA, SHINYU;SAKOGOSHI, TOMOHIRO;SHIMADA, YOICHI;AKAHORI, SHIGETO;HORI, KENGO;SAIKA, HITOSHI |
分类号 |
G01C19/00;B25J5/00;B25J13/08;B25J19/02;G01C19/56;G01C19/5776 |
主分类号 |
G01C19/00 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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