Patent ID: 7330775
Filing Date: 2008-02-12
Classification: B62D

Abstract:
1. A legged mobile robot controller for controlling a legged mobile robot comprising arm portions for gripping an object, each arm potions having links; leg portions for moving, each leg portion having links; a main body of the legged mobile robot joined to the arm portions and the leg portions, based on posture/position data regarding a posture and a position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portion or portions thereof, the legged mobile robot controller comprising: a data acquire unit for acquiring the posture/position data and the external force data; a whole-body cooperative motion control unit for controlling motions of the leg portions in accordance with motions of the arm portions, based on the posture/position data acquired by the data acquire unit, when the legged mobile robot loads the gripped object with the arm portions on a target place; and a loading detection unit for detecting that the gripped object with the arm portions has been loaded on the target place by the motions controlled by the whole-body cooperative motion control unit, based on the external force data acquired by the data acquire unit, wherein the whole-body cooperative motion control unit controls in such a manner that, if the loading detection unit detects that the gripped object is not loaded on the target place when a position of the arm is put down or stretched, each link of the leg portions is bent at part where each link is jointed to each other.