发明授权
- 专利标题: Legged mobile robot
- 专利标题(中): 有腿的移动机器人
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申请号: US10732446申请日: 2003-12-11
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公开(公告)号: US07072740B2公开(公告)日: 2006-07-04
- 发明人: Masatsugu Iribe , Jinichi Yamaguchi
- 申请人: Masatsugu Iribe , Jinichi Yamaguchi
- 申请人地址: JP Tokyo JP Tokyo
- 专利权人: Sony Corporation,Jinichi Yamaguchi
- 当前专利权人: Sony Corporation,Jinichi Yamaguchi
- 当前专利权人地址: JP Tokyo JP Tokyo
- 代理机构: Oblon, Spivak, McClelland, Maier & Neustadt, P.C.
- 优先权: JPP2002-363236 20021216; JPP2003-039560 20030218; JPP2003-388082 20031118
- 主分类号: G06F19/00
- IPC分类号: G06F19/00
摘要:
In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly efficient motions. In each stage of the falldown motions, the characteristics of each joint site taking part in controlling the stable area are set so that the low range gain is low, the quantity of phase lead is large and the viscous resistance of the motor is large, in such a manner that these joint sites may be positioned to high accuracy in a controller manner to increase orientation stability. This assures the positioning accuracy of the joints as main component for controlling the quantity ΔS/Δt as a reference in controlling the falldown motions of the robot body to increase the motion stability.
公开/授权文献
- US20040176875A1 Legged mobile robot 公开/授权日:2004-09-09