Legged walking robot and motion control method therefor
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United States of America Patent
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Oct 9, 2007
Grant Date -
Jun 24, 2004
app pub date -
Aug 1, 2002
filing date -
Aug 1, 2001
priority date (Note) -
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status (Latency Note)
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Abstract
In a robot having at least one rotating joint (which may have at least two degrees of freedom), in order to perform a high-speed switching operation between a closed link mode and an open link mode with the outside world or a working object, each limb is provided with minimum-required, passive degrees-of-freedom (such as a backlash of a reducer) for removing a dynamic closing error and also the movable range of the limb is properly controlled. Even when an actuator for driving the corresponding joint has no means for obtaining a torque signal, a high-speed switching operation between the closed link mode and the open link mode can be stably achieved.
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