Topography the assistance with the topographical navigation device null vehicle conveyance means

摘要

(57) Abstract Topography (3) advances the possession leg which (it is) the animal of the leg (2) the topographical navigation device of for the sake of (1), the possession leg animal (2) first speed (5a), first direction (7a) and first position (9a) is indicated to offer the signal which in order it is operation possible 6 degree of freedom in to inspect the inertial motion installs the inspection expedient in order to decide the position, speed and direction of the possession leg animal which the first system in order describes the motion of both pairs (4) and the possession leg animals at the time of velocity distribution which, speed zero(17) with being proper period, it receives velocity distribution topography around (3) and the respective foot (13a and 13b) with contact expedient in order to establish the period when it corresponds to complete contact or part contact and during period, as a input signal, the error estimate value which it is related to the inspection expedient output signal as a output signal (19) in order to offer, error operates, the output signal of the first system and mutually, the possession leg animal the error estimate expedient where (2) executes topographical navigation (15) with, the topographical navigation device which is includedIt regards.