公开(公告)号：US07877165B2

公开(公告)日：2011-01-25

申请号：US11297363

申请日：2005-12-09

申请人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

发明人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

IPC分类号： G05B19/00

CPC分类号： B62D57/032 ,  B25J13/085

摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.

摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。

公开(公告)号：US20060129278A1

公开(公告)日：2006-06-15

申请号：US11297363

申请日：2005-12-09

申请人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

发明人： Kenichiro Sugiyama ,  Taro Yokoyama ,  Koji Maki ,  Naohide Ogawa

IPC分类号： G06F19/00

CPC分类号： B62D57/032 ,  B25J13/085

摘要： In a legged mobile robot control system having leg actuators each driving the individual legs and arm actuators each driving the individual arms, an external force acting on the right arm is detected, operation of the right arm actuators is controlled to produces a handshake posture, and operation of the leg actuators is controlled based on the detected external force acting on the right hand during handshaking, thereby improving communication capability by enabling it to shake hands with humans and to maintain a stable posture during the handshaking.

摘要翻译： 在具有腿部致动器的腿式移动机器人控制系统中，每个驱动单独的腿和臂致动器驱动各个臂，检测作用在右臂上的外力，控制右臂致动器的操作以产生握手姿势，并且 基于在握手期间作用在右手上的检测到的外力来控制腿致动器的操作，从而通过使其能够与人握手并且在握手期间保持稳定的姿势来改善通信能力。