Legged mobile robot
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorTaku Osada
Life of this patent
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Abstract
A legged mobile robot for accurately calculating the positional relationship between a leg and an obstacle to the walking of the robot has a base body and a plurality of legs operatively connected to the base body. A vision sensor mounted on the base body captures image data containing both an image of a portion of a foot of one of the legs and an image of an obstacle in the course of robot walking. The legged mobile robot calculates the positional relationship between the leg and the obstacle from the captured image data, and walks while recognizing the positional relationship as calculated between the obstacle and the foot.
Claims8
A legged mobile robot comprising:
- a base body;
- a plurality of legs operatively connected to said base body;
- a vision sensor mounted on said base body;
- image input means for capturing image data via said vision sensor;
- positional relationship calculating means for calculating the positional relationship between of an obstacle present in the course of robot walking and one of said legs from the image data captured by said image input means, so that the legged mobile robot can walk while recognizing the positional relationship between the obstacle and the leg as calculated by said positional relationship calculating means;
- said positional relationship calculating means comprising means for calculating positional relationship between the obstacle and the leg from image data containing both images of a portion of the leg and the obstacle as captured by said image input means.
Dependencies are inferred from the claim text.