Legged mobile robot control system
First Claim
1. A system for controlling a legged mobile robot having a body, a plurality of legs each connected to the body, a plurality of arms each connected to the body and each having a hand at its distal end, a leg actuator for driving the legs and an arm actuator for driving the arms, comprising:
- a force sensor which detects an external force acting from a human being when coming in contact with the human being through the hand; and
an operation controller which generates gaits based on the detected external force, and controls operation of at least the leg actuator based on the generated gaits,wherein the generated gaits are gaits for walking by taking a hand of the human being or with the hand being taken by the hand of the human being.
1 Assignment
0 Petitions
Accused Products
Abstract
In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.
-
Citations
11 Claims
-
1. A system for controlling a legged mobile robot having a body, a plurality of legs each connected to the body, a plurality of arms each connected to the body and each having a hand at its distal end, a leg actuator for driving the legs and an arm actuator for driving the arms, comprising:
-
a force sensor which detects an external force acting from a human being when coming in contact with the human being through the hand; and an operation controller which generates gaits based on the detected external force, and controls operation of at least the leg actuator based on the generated gaits, wherein the generated gaits are gaits for walking by taking a hand of the human being or with the hand being taken by the hand of the human being. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
Specification