System and method of controlling a legged locomotion robot
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United States of America Patent
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Feb 1, 2011
Grant Date -
Oct 27, 2005
app pub date -
Mar 18, 2003
filing date -
Mar 18, 2002
priority date (Note) -
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status (Latency Note)
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Abstract
The lumbar part of a robot as a controlled-object point where the mass amount becomes maximum 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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