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Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit
Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit
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机译:腿部移动机器人的机器人装置,运动控制装置和方法,腿部移动机器人的传感器系统以及移动单元
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摘要
The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
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