Abstract: A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.

Abstract: By providing a moving body with a high-accuracy attitude detection mechanism including a pair of a first rate gyroscope for detecting the attitude of the moving body and a second rate gyroscope which obtains an output inverted from that of the first rate gyroscope and the variations in the outputs of the rate gyroscopes are mutually compensated for, thereby accurately detecting the attitude information of the moving body.

Abstract: A supplementary support structure, which supports the body of a robot (1), comprises a contact component (7) which is disposed in a part near a joint (2c) on the distal end, having a hand (3) disposed thereon, of an arm (2) of the robot (1) so as to come into contact with a surface on which the robot (1) is supported, such as a floor surface, and a member which lies between the part having the contact component (7) disposed therein and the proximal end of the arm (2). Thus, the supplementary support structure can avoid an increase in the weight of the hand resulting from the support structure, thus eliminate an extra load on a driving system for the hand or the arm, and thus achieve the simplification and size reduction of the driving system. Moreover, the support structure can increase the degree of freedom of the shape or functional design of the hand and thus improve the functioning of the robot.

Abstract: An object of the present invention is to provide a gait pattern generating device by which a gait pattern of a robot such as a humanoid bipedal walking robot having a structure easy to fall down can be generated easily in real time. This device calculates a driving quantity of the center of gravity in one moment using a preview control method based on feedback of the motion state of the center of gravity in that moment, and feed-forward of a future ZMP trajectory up to a few seconds from that moment. Next, the robot is driven to obtain the obtained center-of-gravity trajectory. Thus, a walking motion is attained.

Abstract: The present invention provides a walking control method and a walking control apparatus for achieving stable attitude control of a legged robot. In the walking control of the legged robot, basically, a foot-sole coordinate system based on sole positions and having at least a first coordinate axis in a direction connecting soles of both legs and a second coordinate axis perpendicular to the first coordinate axis in a horizontal plane is used as a control coordinate system, and attitude control is performed with different control characteristics for the first and second coordinate axes.

Abstract: A method for detecting a low rigid force and a device therefor are provided in that even a large impact force is applied, by integrating an impact absorbing unit with the force detection mechanism, a force detection mechanism may not be damaged. To that end, between a pair of substrates 2a and 2b opposing each other and undergoing displacement in a direction changing the space between them by an impact force applied thereto, at least one absorption detection mechanism 3 integrally including an impact absorbing unit 4 and a force detecting unit 5 is interposed, so that a force applied between both the substrates 2a and 2b is detected by the force detecting unit 5 while an impact force applied between both the substrates 2a and 2b being absorbed by an elastic force of the impact absorbing unit 4.