发明名称 |
Legged mobile robot and method of controlling operation of the robot |
摘要 |
In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.
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申请公布号 |
US2004122556(A1) |
申请公布日期 |
2004.06.24 |
申请号 |
US20030398070 |
申请日期 |
2003.10.03 |
申请人 |
MORI NAOTO;IRIBE MASATSUGU;YAMAGUCHI JINICHI |
发明人 |
MORI NAOTO;IRIBE MASATSUGU;YAMAGUCHI JINICHI |
分类号 |
B25J9/16;B62D57/032;(IPC1-7):G06F19/00 |
主分类号 |
B25J9/16 |
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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