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Locomotion control system for legged mobile robot

  • US 5,432,417 A
  • Filed: 04/30/1993
  • Issued: 07/11/1995
  • Est. Priority Date: 04/30/1992
  • Status: Expired due to Term
First Claim
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1. A system for controlling locomotion of a legged mobile robot having a body and a plurality of articulated legs each connected to the body through a first joint and each having at least a second joint, comprising:

  • motor means provided at the individual joints;

    first means for determining control values of the motor means in accordance with a walking data preestablished at least on a trajectory of ZMP (Zero Moment Point) at which horizontal moment acting on the robot generated by ground reaction force is zero;

    second means for detecting ground reaction force actually acting on the robot to determine an actual position of the ZMP;

    third means for comparing the actual position of the ZMP with a target position of the ZMP obtained from the trajectory of the ZMP to determine an error therebetween;

    andcontrol means for providing the determined control value to said motor means to drive the individual joints and when the error is determined, correcting at least one of the control values in such a manner that the error decreases.

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