Control device for mobile robot
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United States of America Patent
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Jan 9, 2018
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N/A
app pub date -
Jul 17, 2015
filing date -
Sep 24, 2014
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Abstract
The present invention provides a control device for a mobile robot. While a mobile robot 1 is in a predetermined motion state, if a load evaluation amount, which is either the magnitude of a load detected on a particular joint or an estimated temperature value of a joint actuator for driving the joint, exceeds a predetermined threshold value, then a desired displacement amount of each joint of the mobile robot 1 is determined with a requirement that the load evaluation amount remains to be the threshold value or less, and the joint actuator is controlled on the basis of the determined desired displacement amount.
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