发明名称 |
Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit |
摘要 |
The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
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申请公布号 |
US2011077775(A1) |
申请公布日期 |
2011.03.31 |
申请号 |
US20100883615 |
申请日期 |
2010.09.16 |
申请人 |
NAGASAKA KENICHIRO;YAMAGUCHI JINICHI;SHIMIZU SATORU;KUROKI YOSHIHIRO |
发明人 |
NAGASAKA KENICHIRO;YAMAGUCHI JINICHI;SHIMIZU SATORU;KUROKI YOSHIHIRO |
分类号 |
B25J9/06;B25J13/08;B62D57/02;B62D57/032 |
主分类号 |
B25J9/06 |
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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