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Two-leg walking humanoid robot

  • US 20050151496A1
  • Filed: 02/07/2003
  • Published: 07/14/2005
  • Est. Priority Date: 02/18/2002
  • Status: Active Grant
First Claim
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1. A biped walking humanoid robot comprising;

  • a main body, a pair of leg portions attached thereto at both sides of its lower part so as to be each pivotally movable, each of the leg portions having a knee portion in its midway and a foot portion at its lower end, a pair of arm portions attached to said main body at both sides of its upper part so as to be each pivotally movable, each of the arm portions having an elbow portion in its midway and a hand portion at its lower end, and a head portion attached to the top end of said main body, drive means pivotally moving the pivotally movable joint portions of foot, lower thigh, and thigh portions of said leg portions, and hand, lower arm, and upper arm portions of said arm portions, and a motion control apparatus drive-controlling respective drive means, characterized in that;

    said motion control apparatus compares, upon conducting various motions in series, the robot'"'"'s current posture and others such as the robot'"'"'s current posture and dynamic state detected by a detector with next motion command input from outside, and judges if next motion command can be conducted within the range of stability limit with respect to the robot'"'"'s current posture and others, in case that the motion by next motion command can not be transferred stably, a intermediate motion is inserted, and each drive means is drive-controlled based on said intermediate motion.

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