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Legged mobile robot

  • US 6,317,652 B1
  • Filed: 09/07/1999
  • Issued: 11/13/2001
  • Est. Priority Date: 09/14/1998
  • Status: Expired due to Fees
First Claim
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1. A legged mobile robot comprising:

  • a base body;

    a plurality of legs operatively connected to said base body;

    a vision sensor mounted on said base body;

    image input means for capturing image data via said vision sensor;

    positional relationship calculating means for calculating the positional relationship between of an obstacle present in the course of robot walking and one of said legs from the image data captured by said image input means, so that the legged mobile robot can walk while recognizing the positional relationship between the obstacle and the leg as calculated by said positional relationship calculating means;

    said positional relationship calculating means comprising means for calculating positional relationship between the obstacle and the leg from image data containing both images of a portion of the leg and the obstacle as captured by said image input means.

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