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Legged robot

  • US 8,150,550 B2
  • Filed: 09/06/2007
  • Issued: 04/03/2012
  • Est. Priority Date: 09/06/2006
  • Status: Expired due to Fees
First Claim
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1. A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff, and an aerial phase from a takeoff to a landing, comprising:

  • at least one leg that has a joint;

    a storage that stores a target aerial phase period;

    a measuring device that measures an actual aerial phase period;

    a drive device that drives the joint based on a time difference between the target aerial phase period and the actual aerial phase period; and

    a velocity determining device that determines a target vertical velocity of the center of gravity of the legged robot at the takeoff timing in a current jump cycle based on the time difference in a previous jump cycle,wherein the drive device drives the joint such that the determined target vertical velocity is realized, andwherein the velocity determining device calculates a velocity correction value approximately proportional to the time difference in the previous jump cycle, and determines the target vertical velocity in the current jump cycle by adding the velocity correction value to the target vertical velocity in the previous jump cycle.

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