JPS6478987A - Leg drive control method for moving robot with legs - Google Patents

Leg drive control method for moving robot with legs

Info

Publication number
JPS6478987A
JPS6478987A JP62232540A JP23254087A JPS6478987A JP S6478987 A JPS6478987 A JP S6478987A JP 62232540 A JP62232540 A JP 62232540A JP 23254087 A JP23254087 A JP 23254087A JP S6478987 A JPS6478987 A JP S6478987A
Authority
JP
Japan
Prior art keywords
sensor
obstacle
legs
drive
aux
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.)
Granted
Application number
JP62232540A
Other languages
Japanese (ja)
Other versions
JP2558736B2 (en
Inventor
Takeo Omichi
Akihisa Okino
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP62232540A priority Critical patent/JP2558736B2/en
Publication of JPS6478987A publication Critical patent/JPS6478987A/en
Application granted granted Critical
Publication of JP2558736B2 publication Critical patent/JP2558736B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Landscapes

  • Monitoring And Testing Of Nuclear Reactors (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To have smooth striding over any obstacle by arranging a sensor at drive legs, which are equipped on the robot body and driven under control, and grasping accurately the condition of the obstacle relative to the drive legs. CONSTITUTION:In a robot body 1, a sensor 10 is mounted at the aux. drive wheel 5 of each drive leg 3a, 3b. Each sensor 10 consists of a sensor body 10a rotating coaxially at the side of the corresponding aux. drive wheel 5, an ultrasonic wave transmitting element 10b arranged at the periphery of this sensor body 10a, a receiving element 10c, an amplifier, an output device for detection signal, wherein ultrasonic waves emitted from the transmitting element 10b are sent to the periphery of the aux. drive wheel 5, and the reflected waves at an obstacle are received by the receiving element 10c. The signal received is fed into a calculating device to determine the distance of the obstacle from the wheels 5.
JP62232540A 1987-09-18 1987-09-18 Leg drive control method for legged mobile robot Expired - Fee Related JP2558736B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP62232540A JP2558736B2 (en) 1987-09-18 1987-09-18 Leg drive control method for legged mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP62232540A JP2558736B2 (en) 1987-09-18 1987-09-18 Leg drive control method for legged mobile robot

Publications (2)

Publication Number Publication Date
JPS6478987A true JPS6478987A (en) 1989-03-24
JP2558736B2 JP2558736B2 (en) 1996-11-27

Family

ID=16940928

Family Applications (1)

Application Number Title Priority Date Filing Date
JP62232540A Expired - Fee Related JP2558736B2 (en) 1987-09-18 1987-09-18 Leg drive control method for legged mobile robot

Country Status (1)

Country Link
JP (1) JP2558736B2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5372211A (en) * 1992-10-01 1994-12-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method for surmounting an obstacle by a robot vehicle
CN1054579C (en) * 1997-04-18 2000-07-19 清华大学 Five feet walking carrier with comprehensive moving function
JP2006247802A (en) * 2005-03-14 2006-09-21 Hitachi Ltd Moving robot
CN106904225A (en) * 2017-03-31 2017-06-30 东南大学 A kind of complicated ground mobile robot of new wheel leg type
CN107577235A (en) * 2017-09-27 2018-01-12 安徽硕威智能科技有限公司 Bank self-help robot mobile base
CN107738702A (en) * 2017-10-13 2018-02-27 中国农业大学 With the furnace tube outer wall walking mechanism being oriented to obstacle crossing function

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61261170A (en) * 1985-05-15 1986-11-19 Nikko Sangyo Kk Detecting mechanism of multi-foot walking machine
JPH0239377A (en) * 1988-07-29 1990-02-08 Nippon Sheet Glass Co Ltd Simulating method for see-through distortion of plate glass

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61261170A (en) * 1985-05-15 1986-11-19 Nikko Sangyo Kk Detecting mechanism of multi-foot walking machine
JPH0239377A (en) * 1988-07-29 1990-02-08 Nippon Sheet Glass Co Ltd Simulating method for see-through distortion of plate glass

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5372211A (en) * 1992-10-01 1994-12-13 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method for surmounting an obstacle by a robot vehicle
CN1054579C (en) * 1997-04-18 2000-07-19 清华大学 Five feet walking carrier with comprehensive moving function
JP2006247802A (en) * 2005-03-14 2006-09-21 Hitachi Ltd Moving robot
CN106904225A (en) * 2017-03-31 2017-06-30 东南大学 A kind of complicated ground mobile robot of new wheel leg type
CN107577235A (en) * 2017-09-27 2018-01-12 安徽硕威智能科技有限公司 Bank self-help robot mobile base
CN107738702A (en) * 2017-10-13 2018-02-27 中国农业大学 With the furnace tube outer wall walking mechanism being oriented to obstacle crossing function
CN107738702B (en) * 2017-10-13 2019-10-22 中国农业大学 Furnace tube outer wall walking mechanism with guiding and obstacle crossing function

Also Published As

Publication number Publication date
JP2558736B2 (en) 1996-11-27

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Legal Events

Date Code Title Description
LAPS Cancellation because of no payment of annual fees