Control system and related method for multi-limbed, multi-legged robot
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United States of America Patent
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Mar 4, 2008
Grant Date -
Sep 28, 2006
app pub date -
Aug 17, 2005
filing date -
Mar 23, 2005
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A robot body includes a front half and rear half and a rotatable and driven articulating joint interconnecting the front half and rear half. Multi-limbed legs extend from the robot body and are adapted to engage a ground surface to form a support polygon for each half and for the robot body. A controller is operative with each leg for determining the position and orientation of the robot body with respect to a support polygon, mapping the posture of the robot body with respect to the ground surface via the articulating joint, and determining a direction and magnitude of locomotion and translating a trajectory of locomotion to specific limb motions for each leg.
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