发明名称 |
Control system and related method for multi-limbed, multi-legged robot |
摘要 |
A robot body includes a front half and rear half and a rotatable and driven articulating joint interconnecting the front half and rear half. Multi-limbed legs extend from the robot body and are adapted to engage a ground surface to form a support polygon for each half and for the robot body. A controller is operative with each leg for determining the position and orientation of the robot body with respect to a support polygon, mapping the posture of the robot body with respect to the ground surface via the articulating joint, and determining a direction and magnitude of locomotion and translating a trajectory of locomotion to specific limb motions for each leg.
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申请公布号 |
US7339340(B2) |
申请公布日期 |
2008.03.04 |
申请号 |
US20050205384 |
申请日期 |
2005.08.17 |
申请人 |
HARRIS CORPORATION |
发明人 |
SUMMER MATTHEW D.;VARLEY ROBERT F.;DAVIS, III LAURANCE H.;STIVER JAMES A. |
分类号 |
B25J5/00 |
主分类号 |
B25J5/00 |
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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