Locomotion control system for mobile robot
First Claim
1. A system for controlling locomotion of a legged mobile robot having a plurality of legs and which can ascend or descend stairs, comprising:
- first means for determining a desired landing position at which a distal end of a robot leg is to be landed on a first step of the stairs relative to the edge of the first step;
second means for detecting an actual landing position at which the distal end of the leg landed on the first step of the stairsthird means for determining an error between the desired landing position and the actual landing position on the first step and for comparing the error with a predetermined value; and
fourth means for determining a corrected desired landing position at which another robot leg is to be landed on a second step of the stairs, in response to the error if the error is found to exceed the predetermined value.
1 Assignment
0 Petitions
Accused Products
Abstract
A system for controlling locomotion of a biped robot discretely bringing its foot in contact with a floor in an environment such as that including stairs in which the robot'"'"'s foot contact position is restricted. The robot'"'"'s locomotion is controlled on the basis of predesigned gait parameters including its foot position/direction which determines foot landing position in a stair. A positional error is detected between the desired and actual foot landing positions in the stair. And, the gait parameters for the next stair is modified such that the foot landing position at the next stair is corrected in response to the detected error. With this arrangement, the error is not accumulated and does not exceed a premissible range which ensures the robot'"'"'s stable walking. Thus, the robot'"'"'s locomotion can be controlled in such a manner that the robot goes up and down the stairs consecutively.
-
Citations
21 Claims
-
1. A system for controlling locomotion of a legged mobile robot having a plurality of legs and which can ascend or descend stairs, comprising:
-
first means for determining a desired landing position at which a distal end of a robot leg is to be landed on a first step of the stairs relative to the edge of the first step; second means for detecting an actual landing position at which the distal end of the leg landed on the first step of the stairs third means for determining an error between the desired landing position and the actual landing position on the first step and for comparing the error with a predetermined value; and fourth means for determining a corrected desired landing position at which another robot leg is to be landed on a second step of the stairs, in response to the error if the error is found to exceed the predetermined value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 18)
-
-
13. A system for controlling locomotion of a legged mobile robot having a plurality of legs which can ascend or descend stairs, comprising:
-
first means for determining a desired landing position at which a distal end of a robot leg lands on a first step of the stairs; second means for detecting an actual tanding position at which the distal end of the leg lands on the first step of the stairs; third means for determining a first error between the desired landing position and the actual landing position at the first step and adding it to a second error between a desired landing position and an actual landing position at a second step adjacent to the first step and comparing the combined errors with a predetermined value; and fourth means for correcting a desired landing position at which another robot leg lands on a third step adjacent to the first step and opposite the second step in response to the added error, if the added error is found to exceed the predetermined value. - View Dependent Claims (14, 15, 16, 17, 19, 20, 21)
-
Specification