JPH0393083U - - Google Patents
Info
- Publication number
- JPH0393083U JPH0393083U JP152090U JP152090U JPH0393083U JP H0393083 U JPH0393083 U JP H0393083U JP 152090 U JP152090 U JP 152090U JP 152090 U JP152090 U JP 152090U JP H0393083 U JPH0393083 U JP H0393083U
- Authority
- JP
- Japan
- Prior art keywords
- wheel
- legs
- sensor
- leg
- drive mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008602 contraction Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000005484 gravity Effects 0.000 description 1
Description
第１図はこの考案の一実施例を示すロボツト本
体を省略したときの概略構成図、第２図は第１図
に示す実施例の制御ブロツク図、第３図は第２図
の詳細な制御ブロツク図、第４図はロボツトの段
差走行動作を述べるための説明図である。
１１……基台、１２ａ〜１２ｆ……脚、１３ａ
〜１３ｆ……車輪、１４……センサ部、１４ａ…
…段差センサ、１４ｂ……速度センサ、１５……
移動制御演算部、１５ａ……脚伸縮制御部、１５
ｂ……車輪制御部、１５ｃ……基台回転制御部、
１５ｄ……重心移動演算部、１５ｅ……車輪速度
出力部、１５ｆ……車輪角度出力部、１６……移
動機構部、１６ａ……脚伸縮アクチユエータ、１
６ｃ……走行モータ、１６ｅ……ステアリングモ
ータ、１６ｇ……基台駆動モータ。
Fig. 1 is a schematic configuration diagram showing an embodiment of this invention without the robot body, Fig. 2 is a control block diagram of the embodiment shown in Fig. 1, and Fig. 3 is a detailed control diagram of Fig. 2. The block diagram in FIG. 4 is an explanatory diagram for describing the step-traveling operation of the robot. 11...Base, 12a-12f...Legs, 13a
~13f...Wheel, 14...Sensor section, 14a...
...Step sensor, 14b...Speed sensor, 15...
Movement control calculation unit, 15a...Leg extension/contraction control unit, 15
b...Wheel control unit, 15c...Base rotation control unit,
15d... Center of gravity movement calculation section, 15e... Wheel speed output section, 15f... Wheel angle output section, 16... Movement mechanism section, 16a... Leg telescopic actuator, 1
6c... Traveling motor, 16e... Steering motor, 16g... Base drive motor.
Claims (1)
在な６個の脚を設けるとともに、これら各脚には
車輪を設け、前記６脚の全部または複数の脚につ
いて車輪の駆動機構およびステアリング駆動機構
を設け、それぞれの脚の近傍外周側に段差検知用
のセンサを設け、このセンサの出力により車輪の
回転速度、脚の伸縮、車輪のステアリング駆動を
それぞれ制御する制御部を備えたことを特徴とす
る移動ロボツト装置。 Six legs that are vertically extendable and retractable are provided along the lower outer periphery of the base, and each of these legs is provided with a wheel, and a wheel drive mechanism and a steering drive mechanism are provided for all or a plurality of the six legs. A sensor for detecting a step is provided on the outer circumferential side near each leg, and a control unit is provided that controls the rotational speed of the wheel, the extension and contraction of the leg, and the steering drive of the wheel based on the output of this sensor. mobile robot device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP152090U JPH0393083U (en) | 1990-01-11 | 1990-01-11 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP152090U JPH0393083U (en) | 1990-01-11 | 1990-01-11 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0393083U true JPH0393083U (en) | 1991-09-24 |
Family
ID=31505424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP152090U Pending JPH0393083U (en) | 1990-01-11 | 1990-01-11 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0393083U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022138230A1 (en) * | 2020-12-25 | 2022-06-30 | ソニーグループ株式会社 | Mobile body |
-
1990
- 1990-01-11 JP JP152090U patent/JPH0393083U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022138230A1 (en) * | 2020-12-25 | 2022-06-30 | ソニーグループ株式会社 | Mobile body |