| 摘要 |
PURPOSE:To make it movable with continuation of the smooth walking in a room environment there are a lot of obstructions, by providing a means selecting a corrected walking pattern based on the informations from a front part distance sensor, posture sensor and side part distance sensor. CONSTITUTION:A correction walking is carried out by measuring the distance between the leg 2, 3 tips and stairway, an obstruction by the front part distance sensors 4, 5 fitted to the tips of the legs 2, 3, and selecting the corrected walking pattern by a control unit 8 in case of exceeding the allowable range of the distance set in preparing the walking pattern in advance at its distance. As a result, there is no contact of the leg with an obstruction nor a stairway. Also a posture sensor 6 detects the bearing, etc., from the progressing direction of a leg walking mechanism, selecting a corrected walking pattern by a control unit 8 in case of the slippage. Moreover, a side part distance sensor 7 measures the distance from the wall of the leg walking mechanism, selecting the corrected walking pattern by the control unit 8 in case of the leg walking mechanism over-approaching to the end of a passage. |
