WALKING TYPE MOVING SYSTEM, ITS WALKING CONTROLLING DEVICE AND WALKING CONTROLLING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a walking type moving system which detects contact of surfaces of foot sides with objects such as obstacles and achieves stability in walking, and also to provide its walking controlling device and walking controlling method.;SOLUTION: The walking controlling device 30 drives and controls driving means of each joint of respective legs in the walking type moving apparatus based on walking pattern data. This walking controlling device 30 includes force sensors 23L, 23R to detect force to be applied to foot soles of respective foot parts 14L, 14R and a compensating section 32 to modify the walking pattern data from a walking pattern generation section based on horizontal floor reaction of the forces detected with the force sensors. The respective force sensors 23L, 23R comprise three axis force sensors arranged respectively on a plurality of areas into which the foot soles of the respective foot parts 14L, 14R are divided. A touch sensor 32b detects the contact of the surfaces of the foot sides with the force sensors arranged on areas adjacent to end edges of the respective foot soles. The compensating section 32 modifies the walking pattern data from the walking pattern generation section by referring to the contact of the surfaces of the foot sides.;COPYRIGHT: (C)2004,JPO