| 摘要 |
PROBLEM TO BE SOLVED: To provide a positioning method for a leg type mobile robot capable of highly precisely positioning a robot (toes) in a simple sensor constitution and to provide the leg type mobile robot. SOLUTION: A positioning tape 10 is disposed in front of stairs 11 on a robot walking surface 8. This robot is provided with sensors 6 and 7 attached to outside surfaces 4a and 5a of the toes 4 and 5 of the robot 1 and capable of continuously detecting the positioning tape along the front/rear direction of the toes. This robot allows the sensors to detect the positioning tape and positions a moving direction (Lx direction) of the toes, a direction (Ly direction) orthogonally crossing with the moving direction, and inclination (θdirection) to the moving direction based on the position detecting signals. The sensors may be attached to the inside surfaces of the both toes, may be attached to the outside surface and the inside surface of one toe, may be attached to outside surface and inside surface of the both toes, and may be attached to the rear surfaces of the toes. COPYRIGHT: (C)2003,JPO
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