Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Satoshi Shigemi

Toru Takenaka

Takashi Matsumoto

Hiroshi Gomi

Susumu Miyazaki

Naohide Ogawa

Masato Hayakawa

In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which generates gaits based on an external force, more specifically gaits for walking by taking a hand of a human being or with the hand being taken by the hand of the human being and controls operation of at least the leg actuator based on the generated gaits. With this, it becomes possible to control the robot to come contact with a human being to establish communication therewith, while enabling to keep a stable posture during the contact.

Legged mobile robot control system

In a legged mobile robot having an electric motor installed at a location between a foot and each leg to drive the ankle joint, a force sensor installed at the location between the foot and each leg to detect a floor reaction force acting from a floor surface on which the foot lands, and a cushioning member attached to the foot sole to cushioning impact that occurs when the foot lands on the floor surface, conductive members are disposed in depressions formed at the cushioning member, such that the conductive members contact the floor surface when the cushioning member contracts, thereby discharging and removing static electric charge electrified on the foot.

Legged mobile robot

It is arranged such that displacement sensors () are installed at a position in or vicinity of elastic members (), to generate outputs indicating a displacement of the floor contact end of a foot () relative to a second joint (), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.

Leg-type moving robot and floor reaction force detection device thereof

In a legged mobile robot (), an elastic member () is installed at a position between a second joint () connecting a distal end of a leg () and a foot () and a floor contact end of the foot, and a displacement sensor () is installed in a space defined by a top-to-bottom height of the elastic member. With this, it becomes possible to make the displacement sensor including its components such as the converter or the like compact enough to be housed in the elastic member at the limited space of the foot of the legged mobile robot. Further, it is arranged to self-diagnose abnormality of the displacement sensor by utilizing the redundancy of freedom, and also to detect the floor reaction force accurately such that the legged mobile robot can be controlled to walk more stably.

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Wako, Japan

Satoshi Shigemi