Patent ID: 7236852
Filing Date: 2007-06-26
Classification: B62D

Abstract:
1. A motion controlling apparatus for a legged mobile robot having at least a plurality of movable legs, said apparatus comprising: command receiving means for receiving a command for actuating a robot body, entered from an operating system; motion realization means for executing a motion of the robot body specified by said command for actuating the robot body; sensor means for detecting an inner state of said robot body to output the sensor information; error detection means for detecting an error occurring on said robot body and/or elimination of said error based on said sensor information; and gate means for stopping the processing of said command for actuating the robot body by said motion realization means, responsive to said error detection, and/or re-initiating the processing of said command for actuating the robot body responsive to said error elimination, wherein said command receiving means has mounted thereto a communication protocol, exemplified by TCP/IP, and effects wired or wireless data communication with an external remote operating device.