Honda Motor Co., Ltd.

Kengo Hori

Shigeto Akahori

Shinyu Hirayama

Noriaki Okamoto

Hitoshi Saika

Kouji Saotome

Tomohiro Sakogoshi

Yoichi Shimada

Kouji Honda Engineering Co Ltd Saotome

An angular velocity measuring device () includes a first sensor () (vibration gyro) and a second sensor () (gas rate gyro). The detection output of the first sensor () is inputted to a high pass filter (). Output of the filter () is stored and held in time series in a memory (). Subtraction processing means () successively executes processing of subtracting the output of the filter () &#x3c9;v'(t&#x2212;tsd) before a predetermined time tsd from the output of the filter () &#x3c9;v&#x2032;(). The value thus obtained is successively added to the output of the second sensor () &#x3c9;g(t) by addition processing means () so as to obtain the measurement value of the angular velocity. Thus, it is possible to provide an angular velocity measuring device capable of giving an angular velocity measurement value having a high response and stability at a reasonable cost.

Angular velocity measuring device and leg-moving robot

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Sayama, Japan

Kengo Hori