Legged robot and control method of legged robot
First Claim
1. A legged robot comprising:
- a body;
a leg portion that is connected to the body;
a foot portion that is provided on a lower end of the leg portion;
a falling direction detection unit that detects a falling direction of the body;
a control unit that controls drive of a joint of the leg portion based on gait data; and
a distance detection unit that detects a distance between a sole of the foot portion and a road surface, wherein;
the distance detection unit includes at least three distance sensors which are provided on the sole of the foot portion;
the control unit has a distance sensor selecting section that selects a distance sensor and a gait data correcting section that corrects the gait data based on a detection signal from the distance sensor selected by the distance sensor selecting section; and
the distance sensor selecting section selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit.
1 Assignment
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Accused Products
Abstract
A legged robot includes: a body; a leg portion; a foot portion; a falling direction detection unit that detects a falling direction of the body; a control unit; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface. The distance detection unit includes at least three distance sensors provided on the sole, and the control unit includes distance sensor selecting means for selecting a distance sensor and gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit.
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Citations
10 Claims
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1. A legged robot comprising:
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a body; a leg portion that is connected to the body; a foot portion that is provided on a lower end of the leg portion; a falling direction detection unit that detects a falling direction of the body; a control unit that controls drive of a joint of the leg portion based on gait data; and a distance detection unit that detects a distance between a sole of the foot portion and a road surface, wherein; the distance detection unit includes at least three distance sensors which are provided on the sole of the foot portion; the control unit has a distance sensor selecting section that selects a distance sensor and a gait data correcting section that corrects the gait data based on a detection signal from the distance sensor selected by the distance sensor selecting section; and the distance sensor selecting section selects three distance sensors among the distance sensors based on a detection result of the falling direction detection unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A control method of a legged robot including a body, a leg portion that is connected to the body, a foot portion that is provided on a lower end of the leg portion, a falling direction detection unit that detects a falling direction of the body, and at least three distance sensors that detect a distance between a sole of the foot portion and a road surface, the control method comprising:
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selecting a first distance sensor and a second distance sensor among the distance sensors based on a detection result of the falling direction detection unit; selecting a third distance sensor among the unselected distance sensors based on the distance between the sole of the foot portion and the road surface; and controlling drive of a joint of the leg portion based on the gait data by correcting gait data based on detection signals from the selected distance sensors.
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Specification