Toyota Jidosha Kabushiki Kaisha

Yuji Tsusaka

Takashi Yamamoto

Takashi Izuo

Masaaki Yamaoka

Koji Yamada

Keisuke Suga

Mitsuo Koide

Hisayoshi Sugihara

Ryosuke Tajima

Kazutoshi Sukigara

A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.

Wheeled inverted pendulum mobile unit

A robot, wherein the operating amounts of the first and second actuators are adjusted according to a torque necessary for maintaining a body member and an end member at specified angles in a mechanism in which the body member () and the end member () are rotatably connected to each other and first and second wires () connected to the end member are advanced and retreated by the first and second actuator ().

Robot

A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing meansfor storing leg tip gait data describing a time-series change in a target leg tip motion, storing meansfor storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection meansfor detecting an actual torso motion, deviation calculation meansfor calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation meansfor determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction meansfor correcting the target torso gait data based on the determined correction quantity.

Legged robot and legged robot walking control method

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Nagoya, Japan

Yuji Tsusaka