发明名称 |
LEGGED MOBILE ROBOT AND CONTROL PROGRAM FOR THE ROBOT |
摘要 |
<p>A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided.
According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.</p> |
申请公布号 |
EP1844908(A1) |
申请公布日期 |
2007.10.17 |
申请号 |
EP20050783564 |
申请日期 |
2005.09.14 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
TAKENAKA, TORU;MATSUMOTO, TAKASHI;YOSHIIKE, TAKAHIDE;AKIMOTO, KAZUSHI;SHIROKURA, SHINYA;ASATANI, MINAMI |
分类号 |
B25J5/00;B25J13/00 |
主分类号 |
B25J5/00 |
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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