| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve the stability of the posture of a robot body by the control using a pressure sensor during four leg walking, by avoiding the gripping surface of a hand finger from being damaged during four leg walking. <P>SOLUTION: The four leg walking is stably performed by a knuckle walking using hands 209, 212 installed in upper limbs of a legged robot having four limbs. In the right hand 209, hand pressure sensors 107a, 112a for ground detection are arranged at finger dorsal surfaces 125a, 126a of two fingers 101a, 102a. Moreover, in the left hand 212, hand pressure sensors 107b, 112b for ground detection are arranged at finger dorsal surfaces 125b, 126b of two fingers 101b, 102b. The posture at the knuckle walking is controlled by using these hand pressure sensors 107a, 112a, 107b and 112b. <P>COPYRIGHT: (C)2012,JPO&INPIT |
