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ROBOT DEVICE, LEGGED LOCOMOTION ROBOT OPERATION CONTROL DEVICE AND OPERATION CONTROL METHOD, LEGGED LOCOMOTION ROBOT SENSOR SYSTEM, AND LOCOMOTION DEVICE
ROBOT DEVICE, LEGGED LOCOMOTION ROBOT OPERATION CONTROL DEVICE AND OPERATION CONTROL METHOD, LEGGED LOCOMOTION ROBOT SENSOR SYSTEM, AND LOCOMOTION DEVICE
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机译:机器人装置,腿式机器人的动作控制装置及动作控制方法,腿式机器人的动作传感器系统以及机车装置
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摘要
The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at that position to control the robot to take a stable posture on the basis of a ZMP. Further, at each foot which touches the walking surface, there are provided a floor reaction force sensor and acceleration sensor to directly measure a ZMP and force, and a ZMP equation is formulated directly at the foot nearest to a ZMP position. Thus there can be implemented a stricter and quick control of the robot for a stable posture.
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