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Control system for legged mobile robot

  • US 5,355,064 A
  • Filed: 03/03/1993
  • Issued: 10/11/1994
  • Est. Priority Date: 03/04/1992
  • Status: Expired due to Term
First Claim
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1. A system for controlling locomotion of a biped walking robot having a body and two articulated legs each connected to the body through a hip joint and each having at least an ankle joint, comprising:

  • servo motor means provided at individual jointsfirst means for establishing a target attitude of the robot in terms of angles with respect to the direction of gravity assuming that the robot walks on a flat terrain;

    second means for determining at least a target angle of each joint from the established attitude;

    third means for detecting at least an actual angle of each joint;

    fourth means for determining a basic control amount for each joint in response to a deviation at least between the target angle and the detected actual angle of each joint;

    fifth means for estimating an attitude shift from the established attitude as angles with respect to the direction of gravity;

    sixth means for determining a control correction amount indicative of a manipulated variable such that the attitude shift decreases; and

    control means for summing the basic control amount and the control correction amount to provide the sum to the servo motor means.

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