System for controlling locomotion of a walking robot having a sensor for detecting externally exerted forces

摘要

A system for controlling the locomotion of a biped walking robot having a body and a pair of legs each connected to the body through a hip joint and having a knee joint and an ankle joint and a foot at its distal end in accordance with predetermined locomotion data including a foot landing position of a lifted leg. A 6-dimensional force and torque sensor is provided at the body to detect an external force exerted on the robot. A moment is calculated from the external force and integrated during the external force exists. A coefficient is further determined in accordance with the trajectory of the lifted leg and is multiplied to the integrated moment. The predetermined foot landing position is corrected in response to the product and control values for the associated drive joints are changed such that the lifted leg will land at the corrected position, whereby preventing the robot from losing its stability when the external force exerts on the robot.