CONTROL METHOD FOR LEG TYPE MOBILE ROBOT

PURPOSE:To reduce the load of the leg joints by grounding plural legs lifted at one time onto the ground one by one. CONSTITUTION:When a robot main body 1 is moved on its legs, the front and rear left legs 3 and 5 are moved horizontally and stopped. Then the leg 3 is moved down and stopped after con...

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Bibliographische Detailangaben
Hauptverfasser:	OMICHI TAKEO, OKINO AKIHISA
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CONTROLLING HAND TOOLS LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MANIPULATORS MOTOR VEHICLES PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TRAILERS TRANSPORTING
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Beschreibung
Zusammenfassung:	PURPOSE:To reduce the load of the leg joints by grounding plural legs lifted at one time onto the ground one by one. CONSTITUTION:When a robot main body 1 is moved on its legs, the front and rear left legs 3 and 5 are moved horizontally and stopped. Then the leg 3 is moved down and stopped after confirmation of the end of the grounding of the leg 3. Then the leg 5 is moved down and stops after confirmation of the end of the grounding of the leg 5. Then the body 1 is lifted and moved horizontally after confirming the grounding of both legs 3 and 5 that undergone the shift control in the same way. A series of these actins are repeated for movement of the body 1.