Patent ID: 6177776
Filing Date: 2001-01-23
Classification: B25J,B62D

Abstract:
An apparatus for recognizing a landed state of a foot of a legged moving robot having a plurality of movable legs for repeatedly touching and leaving a floor, comprising:a force sensor mounted on each of the movable legs at a position spaced from a foot sole thereof toward a proximal end thereof, for detecting at least a force and a moment based on a reactive force applied from the floor to the foot when the foot is landed on the floor;foot tilting means for tilting said foot along a ridge on the floor when said foot is landed on said ridge;reactive force center recognizing means for recognizing a position of the center of the reactive force applied from the floor to said foot based on the force and the moment detected by said force sensor, in a plurality of tilted attitudes of said foot when said foot is tilted by said foot tilting means; andlanded direction/position recognizing means for recognizing a landed direction and/or a landed position of said foot with respect to said ridge based on the position of the center of the reactive force recognized by said reactive force center recognizing means in said plurality of tilted attitudes of said foot.