公开(公告)号：US20050049748A1

公开(公告)日：2005-03-03

申请号：US10745996

申请日：2003-12-29

Applicant: Yong-Kwun Lee ,  Yeon-Taek Oh

Inventor： Yong-Kwun Lee ,  Yeon-Taek Oh

IPC: A63H11/00 ,  B25J5/00 ,  B25J13/08 ,  B62D57/032 ,  G06F19/00

CPC classification number: B62D57/032 ,  B25J13/085

Abstract: A walking robot using simple ground reaction force sensors and a method of controlling the same. It is an aspect of the present invention to provide the walking robot and the method of controlling the same, which reduces development and manufacturing costs of the walking robot and allows non-specialists to easily participate in the development. The walking robot includes a plurality of legs. One or more sensors are mounted on soles of each of the legs to detect whether the soles of each of the legs are in contact with a ground during locomotion. The walking robot performs the locomotion according to a locomotion pattern composed of a plurality of locomotion cycles, and proceeds from a current locomotion cycle to a next locomotion cycle after determining whether the current locomotion cycle is stable using detection results of the sensors.

Abstract translation: 使用简单的地面反作用力传感器的步行机器人及其控制方法。 本发明的一个方面是提供一种行走机器人及其控制方法，能够降低步行机器人的开发成本和制造成本，并且能够使非专家轻松参与开发。 步行机器人包括多个腿。 一个或多个传感器安装在每个腿的鞋底上，以检测每个腿的脚底在运动期间是否与地面接触。 步行机器人根据由多个运动循环组成的运动模式执行运动，并且在使用传感器的检测结果确定当前运动循环是否稳定之后，从当前运动循环进行到下一运动循环。