LEG TYPE MOBILE ROBOT AND ATTITUDE MEASURING DEVICE FOR THE SAME

PROBLEM TO BE SOLVED: To realize attitude stable control at comparatively low cost by reducing the number of axes to be detected. SOLUTION: The direction of the trunk of a robot is recognized in three X, Y, Z directions by a two-axis acceleration sensor and an inclination sensor without using a three-axis acceleration sensor. The two-axis acceleration sensor is more inexpensive than the three-axis acceleration sensor. Moreover, the inclination sensor is inexpensively constituted by combining an LED, a photointerrupter, and a ball to detect four directions. Since a quadrupedal walking robot performs the movement in, in particular, the direction of X- and Z-axes greatly, the direction in the direction of X- and Z-axes is detected by the two-axis acceleration sensor, and the direction of walking in Y-axis is detected by the inclination sensor. It is possible to recognize that a machine body is lifted in arms.