Remote controller of biped robot
First Claim
1. A remote controller for a biped robot which moves in a walking action by alternately lifting and placing two legs, characterized by comprising a manipulation unit having a manipulator lever shiftable to a plurality of manipulated positions, for outputting a signal representing a manipulated position of the manipulator lever, and control means for being supplied with output signal data from the manipulation unit, generating a motion command for determining motions of the legs for at least two steps of the walking action of the robot depending on the manipulated position of the manipulator lever which is represented by the supplied output signal data, and controlling motions of the legs based on the motion command.
2 Assignments
0 Petitions
Accused Products
Abstract
A remote controller for a biped robot is of a simple arrangement capable of remotely controlling movement of the biped robot while taking into account the stability of the attitude of the robot. A manipulation unit 23 outputs, to a robot A, signals representative of manipulated positions of manipulator levers 26, 26 which correspond respectively to both legs 2, 2 of the robot A. A control unit 19 mounted in the robot A generates a motion command (desired gait) for determining motions of the legs for at least two steps of a walking action of the robot A depending on the manipulated positions of manipulator levers 26, 26 which are represented by output signal data from the manipulation unit 23, and controls motions of the legs 2, 2 based on the motion command.
20 Citations
7 Claims
- 1. A remote controller for a biped robot which moves in a walking action by alternately lifting and placing two legs, characterized by comprising a manipulation unit having a manipulator lever shiftable to a plurality of manipulated positions, for outputting a signal representing a manipulated position of the manipulator lever, and control means for being supplied with output signal data from the manipulation unit, generating a motion command for determining motions of the legs for at least two steps of the walking action of the robot depending on the manipulated position of the manipulator lever which is represented by the supplied output signal data, and controlling motions of the legs based on the motion command.
Specification