Patent ID: 7072740
Filing Date: 2006-07-04
Classification: B62D,G06N

Abstract:
1. A legged articulated mobile robot comprising: a plurality of movable parts which are connected to the robot; a plurality of joints which connect the movable parts respectively; a plurality of mobile legs having a plurality of joints; controlling means for controlling characteristics of an actuator driving each joint, said controlling means controlling, in combination, the gain and the phase compensation of a servo controller of the actuator driving each joint and the viscous resistance of an actuator motor; and falldown motion controlling means for controlling the motion of a body of the robot while the robot falls down; said controlling means for controlling the actuator characteristics switching, in each stage of the falldown motions, the actuator for driving each joint between first actuator characteristics in which the low range gain is of a large value, the quantity of phase lead is small and the viscous resistance of the joint is large and second actuator characteristics in which the low range gain is of a small value, the quantity of phase lead is large and the viscous resistance of the joint is of a small value.