×

Handshake legged mobile robot control system

  • US 7,877,165 B2
  • Filed: 12/09/2005
  • Issued: 01/25/2011
  • Est. Priority Date: 12/14/2004
  • Status: Expired due to Fees
First Claim
Patent Images

1. A system for controlling a legged mobile robot having a body, legs and arms each connected to the body, leg actuators each driving the individual legs and arm actuators each driving the individual arms, the system comprising:

  • a force sensor detecting an external force acting on each of the arms;

    an arm operation controller controlling operation of at least one of the arm actuators such that one of the arms produces a handshake posture; and

    a leg operation controller controlling operation of the leg actuators based on the detected external force acting on the one of the arms producing the handshake posture,wherein the leg operation controller controls operation of the leg actuators so as to move the robot in a same direction as that of the external force, when the detected external force exceeds a predetermined value, wherein the detected external force is caused by a person shaking a hand of the one of the arms.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×