Honda Motor Co., Ltd.

Chihiro Kurosu

Katsu Yamane

Hiroyuki Kaneko

According to one aspect, a control system for providing stable balance control may include an Hcontroller, a state-feedback circuit, a first feedback loop, and a second feedback loop. The control system may be implemented in a robot as a controller for the robot. The Hcontroller may receive an input signal and generate a control effort signal. The state-feedback circuit may receive the control effort signal as an input and generate an output signal. The feedback loop may include the Hcontroller and the state-feedback circuit and may transfer the output signal of the state-feedback circuit back to the input of the Hcontroller and input a tracking error input signal to the Hcontroller. The tracking error input signal may be the difference between the output signal of the state-feedback circuit and the input signal.

Stable balance controller

A setting unitconfigured to set a first landing permissible region in order to ground a free leg side footwithin an upper tread surface or a lower tread surface of a step existing ahead of a legged mobile robotin a traveling direction, and a setting unitconfigured to set a second landing permissible region in order to ground the free leg side footon an edge of the upper tread surface or the lower tread surface are provided to switch landing permissible regions for movement control of the robotaccording to a step height.

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Saitama, Japan

Chihiro Kurosu