Ambulatory robot and ambulation control method for same
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United States of America Patent
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Apr 14, 1998
Grant Date -
N/A
app pub date -
Sep 7, 1995
filing date -
Sep 9, 1994
priority date (Note) -
Expired
status (Latency Note)
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Abstract
The ambulatory robot is provided with front legs and rear legs that are constituted so that the lengths from the origins of the front legs and the rear legs to their terminal portions can be varied. In walking, the front legs and the rear legs are rotated and the lengths of the front legs and the rear legs are changed so that the front legs are raised from the ground surface while the rear legs are maintained in contact with the ground. Then, the front legs and the rear legs are rotated and the lengths of the legs are changed so that the front legs raised from the ground surface are replaced on the ground in the direction of ambulation and the rear legs that were maintained in contact with the ground are raised from the ground surface. Then, the front legs and the rear legs rotate and the lengths of the legs change so that the rear legs so raised from the ground surface are replaced on the ground in the direction of ambulation. Control in this manner is repeated while maintaining the trunk in a substantially erect posture as the ambulatory robot walks.
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