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Movable robot with legs and its controlling and operating method

A control method and technology for a mobile robot, applied in the field of a legged mobile robot mechanism, the mechanism control of a legged mobile robot, and the field of robot control mechanism, to achieve the reduction of the number and type, reliable use, development cycle and manufacturing cost reduction. Effect

Inactive Publication Date: 2006-09-20
SONY CORP +3
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

making it possible for the robot to stand up

Method used

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  • Movable robot with legs and its controlling and operating method
  • Movable robot with legs and its controlling and operating method
  • Movable robot with legs and its controlling and operating method

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0126] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0127] figure 1 with 2 It is a front view and a rear view of a legged mobile robot 100 of an embodiment of the present invention standing in an upright posture. As shown in the figure, the robot 100 includes lower limbs or left and right legs for locomotion, a body, left and right upper limbs, a head and a control part.

[0128] The left and right lower limbs each include a thigh, knee joint, shin, ankle joint and foot, and are connected to approximately the bottom of the body through corresponding hip joints. The left and right upper limbs include corresponding upper arms, elbow joints, and forearms, and are connected with corresponding left and right sides of the body through corresponding shoulder joints. The head is connected to the generally uppermost central portion of the body by the neck joint.

[0129] The control part i...

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PUM

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Abstract

A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading / averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. It is possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Description

technical field [0001] The present invention relates to a simulated robotic mechanism designed to imitate the results of the mechanism and work of living creatures. And more specifically, it relates to a legged mobile robot mechanism in which the body of a movable animal with legs such as a human or a monkey is imitated. [0002] More particularly, the present invention relates to a robot control mechanism having movable legs capable of standing up by itself if it falls during walking or the like. More specifically, the present invention also relates to a mechanism control method for a legged mobile robot capable of standing up by itself even after falling down in various postures, so as to automatically resume work interrupted by the fall. Background technique [0003] A robot is a mechanical device that imitates human motion by using electromagnetism. The term robot is said to be derived from the Slavic word RoBota (machine without ingenuity). In my country, the applica...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J5/00B25J13/00B25J9/16B62D57/032
CPCB62D57/032B25J5/00
Inventor 服部裕一石田健藏山口仁一
Owner SONY CORP