Keywords
Citation
Rigelsford, J. (2002), "Mobile robot controller", Industrial Robot, Vol. 29 No. 3. https://doi.org/10.1108/ir.2002.04929cad.009
Publisher
:Emerald Group Publishing Limited
Copyright © 2002, MCB UP Limited
Mobile robot controller
Mobile robot controller
Keywords: Honda, Robots, Controller
Applicant: Honda Motor Co. Ltd, JapanPatent number: EP1120203Publication date: 1 August 2001Title: Controller for legged mobile robot
This invention relates to a posture control system of a legged mobile robot. It presents a system for conducting a compliance control on the motion of the legs of a biped robot and controls the floor reaction force acting on the robot appropriately. The mobile robot has a body and a plurality of legs each connected to the body through a first joint and having a foot connected to its distal end through a second joint.
The system detects the posture inclination of the robot and determines a moment of compensating total floor reaction force about a desired total floor reaction force central point. This compensation information is distributed to each foot such that their position and posture are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively.
The system can appropriately control the actual total floor reaction force and the actual foot floor reaction force acting on the biped mobile robot. Walking with stable posture can be achieved, even when the floor contains unexpected local slant or level differences, or is inclined or undulating over a relatively long distance. The system can decrease the load to be exerted on the joint actuators by absorbing the foot-landing impact. This also improves the contact of robot foot with the floor.