LEGGED LOCOMOTION ROBOT, CONTROLLING METHOD FOR IT, AND RALATIVE MOVEMENT MEASURING SENSOR FOR IT

摘要

PROBLEM TO BE SOLVED: To perform a suitable legged locomotion according to a surface state of a road. SOLUTION: During a legged work of a robot, a foot part in a standing state often relatively moves, for example slides, for the road surface. The foot part (foot palm or foot sole) of each movable leg of the legged locomotion robot is provided with a road surface ground sensor for recognizing a ground state of the foot part with the road surface and a relative movement measuring sensor for measuring relative movement (sliding) between the road surface and the ground leg. Even when displacement occurs between a scheduled or planned track and an actual track, operation control can be performed suitably.