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Legged walking robot and system for controlling the same

  • US 5,151,859 A
  • Filed: 06/27/1990
  • Issued: 09/29/1992
  • Est. Priority Date: 06/29/1989
  • Status: Expired due to Term
First Claim
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1. A system for controlling a drive joint of a legged walking robot, including:

  • first means for detecting an angle of the drive joint of the robot;

    second means for preestablishing a gait of the robot in terms of angle with respect to time;

    control means for determining a control value of the drive joint so as to decrease the deviation between detected and preestablished angles such that the robot walks in the predetermined gait;

    wherein the improvement comprises;

    third means for detecting a reaction force acting on at least one of the legs from the ground which that leg contacts, the reaction force indicative of an interference between a drive joint driving force and a ground friction force; and

    said control means corrects the control value in response to the detected reaction force, to decrease the interference.

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