Legged mobile robot and control system thereof
First Claim
1. A system for controlling a legged mobile robot having a body and legs whose upper ends are connected to the body and whose lower ends are each connected to a foot to be movable when the legs are driven, the foot having a foot main body connected to each of the legs and a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, said system comprising:
- a bending angle holder configured to hold a bending angle of the toe in a bendable range of the toe; and
a bending angle controller configured to operate the bending angle holder to control holding and releasing of the bending angle of the toe, the bending angle controller further configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the held bending angle of the toe at a second time point after the leg has lifted off the floor to restore the toe to a initial position.
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Abstract
The legged mobile robot the foot comprises a foot main body connected to each leg, a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, and a bending angle holder capable of holding a bending angle of the toe in a bendable range of the toe. In addition, a legged mobile robot control system is configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the bending angle at a second time point after the leg has lifted off the floor to restore the toe to a initial position. With this, the bending angle at the time of liftoff can continue to be held after liftoff, whereby the robot can be prevented from becoming unstable owing to the toe contacting the floor immediately after liftoff. In addition, stability during tiptoe standing can be enhanced.
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Citations
20 Claims
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1. A system for controlling a legged mobile robot having a body and legs whose upper ends are connected to the body and whose lower ends are each connected to a foot to be movable when the legs are driven, the foot having a foot main body connected to each of the legs and a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, said system comprising:
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a bending angle holder configured to hold a bending angle of the toe in a bendable range of the toe; and a bending angle controller configured to operate the bending angle holder to control holding and releasing of the bending angle of the toe, the bending angle controller further configured to hold the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and to release the held bending angle of the toe at a second time point after the leg has lifted off the floor to restore the toe to a initial position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for controlling a legged mobile robot having a body and legs whose upper ends are connected to the body and whose lower ends are each connected to a foot to be movable when the legs are driven, the foot having a foot main body connected to each of the legs and a toe provided at a fore end of the foot main body to be bendable with respect to the foot main body, said system comprising:
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holding means for holding a bending angle of the toe in a bendable range of the toe; and controlling means for operating the bending angle holder to control holding and releasing of the bending angle of the toe, the controlling means also for holding the bending angle of the toe at a first time point which is a liftoff time of the leg from a floor or earlier thereof, and for releasing the held bending angle of the toe at a second time point after the leg has lifted off the floor to restore the toe to a initial position. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification