A link position and attitude estimating unit 53 (54) of a controller 40 of a mobile robot 1 sequentially estimates the actual position and attitude of a first particular link 2 by using input parameters which at least include at least one of a desired attitude of an in-contact-with-ground link 13 and an observation value of the actual attitude of the first particular link 2, a desired position of the in-contact-with-ground link 13, and an observation value of the actual displacement amount of each joint. The driving force for each joint is adjusted by using the estimated values.


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    Title :

    Controller for mobile robot


    Contributors:

    Publication date :

    2017-10-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



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