DISTURBANCE DETECTING METHOD FOR CONTROLLING OPERATION OF LEG TYPE ROBOT AND ITS DEVICE

摘要

PROBLEM TO BE SOLVED: To provide a technology for compensating for disturbance by separately detecting floor-caused disturbance and external part-caused disturbance being one factor of overturning of a leg type robot. SOLUTION: This device has a force separating device 1 displaced by sole force of at least one shaft among translation force of three shafts and the rotation moment of the three shafts received to the leg type robot from a floor surface. The force separating device 1 separately detects floor-caused overturning force trying to overturn the robot by an unexpected floor surface such as an off-road on which the leg type robot stands and external part-caused overturning force trying to overturn the robot by acting on the leg type robot from an external part. COPYRIGHT: (C)2005,JPO&NCIPI