| 摘要 |
PROBLEM TO BE SOLVED: To set an offset value for canceling a bias value contained in output of an acceleration sensor fixed to the trunk of a robot including a plurality of links. SOLUTION: A robot body 100 is caused to take a predetermined static attitude. In that state, the output of the acceleration sensor fixed to the trunk and the output of an attitude angle sensor for detecting the attitude angle to the vertical direction of the acceleration sensor are read. The acceleration detecting direction of the acceleration sensor is calculated from the attitude angle. The component of the gravity acceleration vector in that direction is calculated. The component of the calculated gravity acceleration vector is subtracted from the value of the taken acceleration sensor. The value of subtraction is taken as an offset value to the bias value. In controlling the robot, when the output value of the acceleration sensor is taken, the offset value is subtracted from the taken value to be used for control. It is possible to use an accurate acceleration value within the roboto control device. COPYRIGHT: (C)2007,JPO&INPIT
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