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Locomotion control system of legged mobile robot

  • US 5,838,130 A
  • Filed: 01/24/1997
  • Issued: 11/17/1998
  • Est. Priority Date: 01/25/1996
  • Status: Expired due to Term
First Claim
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1. A system for controlling locomotion of a legged mobile robot having at least a body and a plurality of articulated legs each connected to the body through a joint and each including a foot connected to the leg through a joint, the robot being configured to walk in an environment including stairs, comprising:

  • gait parameter generating means for generating gait parameters of the robot such that the robot descends the stairs by landing a heel of a first foot on a stair step;

    posture parameter determining means for determining posture parameters of the robot based on the generated gait parameters;

    joint angle determining means for determining desired angles of the joints based on the determined posture parameters by inverse kinematic solution; and

    servo control means for controlling an actuator of each joint in response to the determined desired angles of the joints;

    wherein the robot is a biped robot having two articulated legs each connected to the body through a hip joint and each including a foot connected to the leg through an ankle joint, such that the robot walks alternating between a single-leg support phase in which one of the two legs supports the weight of the robot, and a double-leg support phase in which both legs support the weight of the robot, and said gait generating means generates gait parameters which throughout the entire single-leg support phase, cause the foot supporting the weight of the robot to make at least three-point contact with the stair step.

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