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发明公开
EP1477283A1 TWO-LEGGED WALKING LOCOMOTION APPARATUS AND ITS WALKING CONTROLLER 审中-公开
国际志愿者协会

TWO-LEGGED WALKING LOCOMOTION APPARATUS AND ITS WALKING CONTROLLER
摘要：
A walk controller(30) for a biped (two-footed) walking mobile system, which drive-controls each joint drive motor (15L, 15R - 20L, 20R) of each leg portion (13L, 13R) of a biped walking mobile system based on gait data, includes a force detector (23L, 23R) to detect the force allied to a sole of each foot portion (14L, 14R), and a compensator (32) to modify the gait data from a gait former (24) based on the force detected by a force detector, and is constituted so that each force detector (23L, 23R) comprises at least three 3-axial force sensors (36a, 36b, 36c) allocated on a sole of each foot portion (14L, 14R), and a compensator (32) modifies gait data based on the detected signals from three 3-axial force sensors (36a, 36b, 36c) which detect effective force, thereby the walk stability of a robot is realized, even on the unstable road surface condition with complex roughness.
摘要（中）：

一种用于两足动物（两脚）步行移动系统的行走控制器（30），其驱动控制两足动作移动系统的每个腿部（13L，13R）的每个关节驱动马达（15L，15R-20L，20R） 基于步态数据，包括用于检测与每个脚部（14L，14R）的鞋底相关的力的力检测器（23L，23R）和用于修改来自步态成型器（24）的步态数据的补偿器（32） 基于由力检测器检测到的力，并且构造成使得每个力检测器（23L，23R）包括分配在每个脚部（14L，23R）的鞋底上的至少三个三轴力传感器（36a，36b，36c） 14R），补偿器（32）基于检测有效力的三个3轴力传感器（36a，36b，36c）的检测信号来修正步态数据，从而即使在不稳定的情况下也能够实现机器人的行走稳定性 道路表面状况复杂粗糙。

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