Back to results
US 5,402,050 AGranted
Locomotion control system for mobile robot
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorNobuaki Ozawa
Life of this patent
Estimating the term…
Loading patent…
Loading patent…
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorNobuaki Ozawa
Estimating the term…
A system for controlling locomotion of a biped robot discretely bringing its foot in contact with a floor in an environment such as that including stairs in which the robot's foot contact position is restricted. The robot's locomotion is controlled on the basis of predesigned gait parameters including its foot position/direction which determines foot landing position in a stair. A positional error is detected between the desired and actual foot landing positions in the stair. And, the gait parameters for the next stair is modified such that the foot landing position at the next stair is corrected in response to the detected error. With this arrangement, the error is not accumulated and does not exceed a premissible range which ensures the robot's stable walking. Thus, the robot's locomotion can be controlled in such a manner that the robot goes up and down the stairs consecutively.
A system for controlling locomotion of a legged mobile robot having a plurality of legs and which can ascend or descend stairs, comprising:
A system for controlling locomotion of a legged mobile robot having a plurality of legs which can ascend or descend stairs, comprising:
Dependencies are inferred from the claim text.