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发明公开
EP1552909A1 WALKING TYPE MOVING DEVICE AND WALKING CONTROL DEVICE THEREFOR AND WALKING CONTROL METHOD 审中-公开
工程学院学士学位课程

WALKING TYPE MOVING DEVICE AND WALKING CONTROL DEVICE THEREFOR AND WALKING CONTROL METHOD
摘要：
A walk controller (30) to drive-control drive means of respective joint portions (15L, 15R to 20L, 20R) of respective leg portions (13L, 13R) based on gait data comprises force sensors (23L, 23R) to detect forces applied to the soles of respective foot portions(14L, 14R), and a compensation part (32) to adjust the gait data from a gait forming part (24) based on horizontal floor reaction force among the forces detected by the force sensors, respective force sensor parts (23L, 23R) comprises 3-axis force sensors (36a to 36d) provided to respective parts of soles divided into a plurality at respective foot portions (14L, 14R), a contact detection part (32b) detects a contact of foot sides by the force sensors provided to regions next to end edges of respective soles, and the compensation part (32) adjusts the gait data from the gait forming part (24) referring to the contact of foot sides, and thereby the contact of foot sides to such a matter as an obstacle is detected, and a walk stability is realized.
摘要（中）：

基于步态数据的步行控制器（30），用于基于步态数据的各个腿部（13L，13R）的各个接合部（15L，15R〜20L，20R）的驱动控制驱动装置，包括力传感器（23L，23R） 和相应的脚部（14L，14R）的脚底和补偿部件（32），用于根据由力传感器检测到的力之间的水平地面反作用力来调整来自步态形成部件（24）的步态数据，相应的力 传感器部件（23L，23R）包括在相应的脚部分（14L，14R）上分成多个的鞋底的各部分设置的3轴力传感器（36a〜36d），接触检测部（32b）检测脚的接触 通过设置在相邻鞋底的端部边缘附近的区域的力传感器的侧面，并且补偿部件（32）参考脚侧的接触来调整来自步态形成部件（24）的步态数据，从而使脚侧 到这样一个障碍物被检测到，并且步行stabi 实现实现。

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