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 Title: |
US5221883:
System for controlling locomotion of legged walking robot
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Takenaka, Toru; Saitama, Japan
Ozawa, Nobuaki; Saitama, Japan
Nishikawa, Masao; Saitama, Japan
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| Assignee: |
Honda Giken Kogyo Kabushiki Kaisha, Tokyo, Japan
other patents from HONDA GIKEN KOGYO KABUSHIKI KAISHA (HONDA MOTOR CO., LTD.) (256400) (approx. 9,061)
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| Published / Filed: |
1993-06-22
/ 1991-11-27
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| Application Number: |
US1991000799367
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| IPC Code: |
Advanced:
B62D 57/032;
Core:
B62D 57/00;
IPC-7:
G05B 19/00;
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| U.S. Class: |
Current:
318/568.12;
180/008.1;
180/008.6;
318/568.1;
901/001;
901/009;
Original:
318/568.12;
318/568.1;
901/001;
901/009;
180/008.1;
180/008.6;
395/080;
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| Field of Search: |
318/565,567,568.1-568.22,625
395/088-99
901/001,2,3,9,12,15,18,20,21,22,24,44,48,47
180/8.1,8.6,167,169
414/730
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| Priority Number: |
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| Abstract: |
A servo system for controlling locomotion of a biped walking robot, made up of a body link and two leg linkages each connected to the body link by a first drive joint and each including knee and ankle joints, to follow up a target angle for each drive joint predetermined in series with respect to time such that the robot walks. In order to stabilize robot posture when it could turn over, the drive speed of the joints are feedback controlled in responsive with the robot turnover probability. Moreover, the predetermined robot gait is modified at such instance, for example, in such a manner that robot leg lands one of additionally preestablished candidate positions for robot leg landing.
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| Attorney, Agent or Firm: |
Lyon & Lyon ;
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| Primary / Asst. Examiners: |
Ip, Paul;
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Designated Country: |
DE FR GB
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| Family: |
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First Claim:
Show all 24 claims |
What is claimed is:
1. A system for controlling locomotion of a biped walking robot having a body and two leg linkages each connected to the body and each having a foot portion and a leg portion connected by an ankle drive joint, comprising:
- first means for determining a differential value of n-th order of an actual inclination angle of the robot body with respect to the direction of gravity;
- second means for calculating a deviation between the determined value and a reference value to determine a drive speed of the ankle drive joint of the leg linkage which supports the robot weight by multiplying the deviation by a gain; and
- servo motor means for driving the ankle drive joint at the determined drive speed.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 77 U.S. patent(s) that reference this one
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