Bipedal walking type moving device, and walking control device and walking control method therefor

A technology of a mobile device and a control method, which is applied in the direction of motor vehicles, manufacturing tools, transportation and packaging, etc., can solve the problems of impossible accurate ZMP compensation, difficulty in bipedal walking, and the stability of the robot cannot be maintained, and achieve stability. maintained effect

Inactive Publication Date: 2005-04-13
JAPAN SCI & TECH CORP
View PDF1 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for a biped walking robot of this configuration, when each sole of the robot is on a road surface such as wet ground, ice, mud, or a long-pile carpet that can make the posture of the foot unstable, for example, accurate ZMP compensation will become impossible and the stability of the robot will not be maintained, making bipedal walking very difficult

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Bipedal walking type moving device, and walking control device and walking control method therefor
  • Bipedal walking type moving device, and walking control device and walking control method therefor
  • Bipedal walking type moving device, and walking control device and walking control method therefor

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] In the following, the invention will be described in detail with reference to suitable forms of embodiments of the invention shown in the drawings.

[0026] figure 1 with figure 2 The configuration of an embodiment of a biped walking robot to which the biped walking movement device according to the present invention is applied is shown. see figure 1 , the biped walking robot 10 includes an upper body as a main body 11, the lower part of the upper body 11 has a pair of legs 13L and 13R connected thereto on both sides, and each of the legs has a The knees 12L, 12R, and have feet 14L, 14R attached to their lower ends.

[0027] Here, each leg 13L, 13R has six joints respectively, that is, from top to bottom: joints 15L and 15R, joints 16L and 16R for lumbar yaw motion (around x-axis), joints 17L and 17R for lumbar pitch motion (around y-axis), pitch for knees 12L and 12R Joint parts 18L and 18R for motion, joint parts 19L and 19R for pitching motion of the ankle relat...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The present invention provides a bipedal walking type mobile device that can be used even in wet ground, ice, mud, or thick carpets that make standing unsteady or when only a part of the sole of the foot touches the ground due to irregularities in the road surface, for example. The walking stability can be realized; a walking controller and a walking control method for the biped walking mobile device are also provided. The walking controller (30) includes: a force sensor (23L, 23R), which detects the force acting on the sole of the foot (14L, 14R) to drive and control the movement of the leg of the biped walking mobile device based on the gait data. a driving device of the joint part (15L, 15R to 20L, 20R); and a compensating part (32) which corrects the gait data from the gait generating part (24) based on the horizontal ground reaction component of the force detected by the force sensor, Each force sensor (23L, 23R) includes a triaxial force sensor provided on each divided portion of the sole of each foot (14L, 14R) divided into multiple parts.

Description

technical field [0001] The invention relates to a biped walking mobile device, in particular to a walking controller capable of stabilizing walking in the device. Background technique [0002] Conventional bipedal walking robots are designed such that they generate predetermined walking pattern (hereinafter referred to as gait) data, control walking based on the gait data, and drive the legs through the predetermined walking pattern, thereby enabling biped walk. [0003] However, for such a biped walking robot, the walking posture becomes unstable due to factors such as road surface conditions or errors in physical parameters of the robot itself and others. Therefore, this biped walking robot cannot be used in some cases. On the other hand, if walking control is performed while recognizing the walking state of the robot in real time instead of using predetermined gait data, it is possible to stabilize the walking posture, however, even in this case, if unpredictable road ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J13/08B25J19/02B62D57/032
CPCB25J13/085B62D57/032B25J5/00
Inventor 北野宏明古田贵之奥村悠田原哲雄
Owner JAPAN SCI & TECH CORP
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap