发明名称 |
Operation control device for leg-type mobile robot and operation control method, and robot device |
摘要 |
A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part thereof is disabled. At this time, the variation amount DeltaS/Deltat of the area S of a support polygon of the body per time t is minimized and the support polygon when the body drops onto a floor is maximized to distribute an impact which acts upon the body from the floor when the body drops onto the floor to the whole body to suppress the damage to the body to the minimum. Further, the legged mobile robot autonomously restores a standing up posture from an on-floor posture thereof such as a supine posture or a prone posture.
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申请公布号 |
US7386364(B2) |
申请公布日期 |
2008.06.10 |
申请号 |
US20040477452 |
申请日期 |
2004.08.23 |
申请人 |
SONY CORPORATION;YAMAGUCHI, JINICHI |
发明人 |
MIKAMI TATSUO;YAMAGUCHI JINICHI;MIYAMOTO ATSUSHI |
分类号 |
G06F19/00;B62D57/02;B62D57/032 |
主分类号 |
G06F19/00 |
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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