| 摘要 |
PROBLEM TO BE SOLVED: To provide a collision detector for walking robot, having accelerator sensors capable of detecting the collision of the walking robot with an obstacle, without requiring complicated calculation processings, and to provide a method of detecting the collision of the walking robot. SOLUTION: An idle leg determining part 5 determines whether the legs of the walking robot are brought into an idle state at the present time. A collision determining part 6 determines collision of the walking robot with an obstacle, based on output signals from accelerator sensors 4a, 4b attached to the legs of the walking robot, when the legs are determined as being idle at the present time. COPYRIGHT: (C)2009,JPO&INPIT
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