Legged mobile robot and method and apparatus for controlling the operation thereof
First Claim
1. A robot apparatus having a movable part, comprising:
- means for detecting an object;
means for predicting a reactive force applied to the robot apparatus from the object when the robot apparatus causes a movement on the object by using the movable part of the robot apparatus;
means for generating a motion pattern of the robot apparatus based on the predicted reactive force; and
means for controlling the movable part of the robot apparatus to cause movement on the object in accordance with the motion pattern of the robot apparatus.
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Abstract
A legged mobile robot is adaptively controlled in its attitude against variable external forces to continue the operation without inversion. When the legged mobile robot kicks an object having a certain mass, such as a ball, the robot is to be prevented from being fallen down by the reactive force from the object. Even if the mass or the repulsion coefficient of the object kicked is unknown, the operation of kicking the object at a sufficiently low speed is carried out at the outset to predict the reactive force produced on actual kicking in order to predict the reactive force produced on actual kicking. The result is that the stability in attitude can be maintained on kicking at an arbitrary speed. The legged mobile robot is able to take part as one of the players in athletic games, such as soccer games, in which each player performs his or her role as the or she is subjected to an external force.
78 Citations
14 Claims
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1. A robot apparatus having a movable part, comprising:
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means for detecting an object;
means for predicting a reactive force applied to the robot apparatus from the object when the robot apparatus causes a movement on the object by using the movable part of the robot apparatus;
means for generating a motion pattern of the robot apparatus based on the predicted reactive force; and
means for controlling the movable part of the robot apparatus to cause movement on the object in accordance with the motion pattern of the robot apparatus. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling a robot having a movable part, comprising the steps of:
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detecting an object;
predicting a reactive force applied to the robot from the object when the robot causes a movement on the object by using the movable part of the robot;
generating a motion pattern of the robot based on the predicted reactive force; and
controlling the movable part of the robot to cause movement on the object in accordance with the motion pattern of the robot. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification