DISTURBANCE DETECTING METHOD FOR CONTROLLING OPERATION OF LEG TYPE ROBOT AND ITS DEVICE

PROBLEM TO BE SOLVED: To provide a technology for compensating for disturbance by separately detecting floor-caused disturbance and external part-caused disturbance being one factor of overturning of a leg type robot. SOLUTION: This device has a force separating device 1 displaced by sole force of a...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Hauptverfasser:	KANEKO KENJI, FUJIWARA SEIJI, HIRUKAWA HIROHISA, KANEHIRO FUMIO, KAJITA HIDEJI, YOKOI KAZUHITO
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Beschreibung
Zusammenfassung:	PROBLEM TO BE SOLVED: To provide a technology for compensating for disturbance by separately detecting floor-caused disturbance and external part-caused disturbance being one factor of overturning of a leg type robot. SOLUTION: This device has a force separating device 1 displaced by sole force of at least one shaft among translation force of three shafts and the rotation moment of the three shafts received to the leg type robot from a floor surface. The force separating device 1 separately detects floor-caused overturning force trying to overturn the robot by an unexpected floor surface such as an off-road on which the leg type robot stands and external part-caused overturning force trying to overturn the robot by acting on the leg type robot from an external part. COPYRIGHT: (C)2005,JPO&NCIPI