Control apparatus for legged mobile robot
AssigneeHonda Giken Kogyo Kabushiki Kaisha
InventorYoshio Suzuki
Life of this patent
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Abstract
Each of motor local controllers for controlling operation of electric motors based on command data sent from a central controller has a memory 28 for storing a plurality of command data for a predetermined period. When the motor local controller fails to receive normal command data, a CPU of the motor local controller predicts new command data from the command data in the past stored in the memory, and controls operation of the electric motor based on the predicted new command data.
Claims2
An apparatus for controlling a legged mobile robot having a plurality of actuators including at least actuators for moving legs thereof, comprising:
- a plurality of local controllers disposed near and connected to the actuators, respectively, for controlling operation of the actuators;
- and
- a central controller connected to said local controllers for sequentially generating command data for controlling the operation of the actuators controlled by said local controllers and sending the generated command data to said local controllers;
- each of said local controllers comprising:
- memory means for storing said command data sent from said central controller to said each local controller for a predetermined period;
- and
- means for monitoring a reception status of said command data in said each local controller and, in the event of a reception failure of the command data, controlling operation of the actuator corresponding to said each local controller based on said command data for said predetermined period in the past which have been stored in said memory means.
Dependencies are inferred from the claim text.