Floor shape estimation system of legged mobile robot
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United States of America Patent
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Jul 26, 2005
Grant Date -
Jun 19, 2003
app pub date -
May 17, 2001
filing date -
May 19, 2000
priority date (Note) -
In Force
status (Latency Note)
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Abstract
A floor shape estimation system for a legged mobile robot, in particular a biped walking robot, which estimates a foot-to-foot floor inclination difference based on at least a control error of the total floor reaction force's moment and corrects a feet compensating angle based on the estimated value. Further, the system estimates a foot floor inclination difference based on at least a control error of the foot floor reaction force about a desired foot floor reaction force central point and corrects a foot compensating angle based on the estimated value. Furthermore, it determines whether it is in a situation where the accuracy of estimation is liable to degrade based on at least a time of the gait of the robot and when it is in the situation, the system interrupts the estimation. With this, the system can accurately estimate the shape of floor with which the robot is in contact.
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