Title:
脚式移動ロボットの歩容生成装置
Document Type and Number:
Japanese Patent JP3674789
Kind Code:
B2
Abstract:
There are provided means for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration vertical component of the robot 1, and determining a desired vertical position of the total center-of-gravity of the robot 1 or a body 24 thereof so as to satisfy the desired trajectory, and means for determining a desired vertical position of the total center-of-gravity of the robot 1 or the body 24 thereof based on a geometrical condition concerning a joint of a leg 2. Depending on the gait mode, such as walking or running, one of the desired vertical positions is selected, or the desired vertical positions are combined by taking the weighted average thereof or the like, thereby determining a final desired vertical position.
More Like This:
| JPS608170 | MULTIPLE LEG TYPE TRAVELER |
| JP2015182714 | MOBILE AND CONTROLLING METHOD OF MOBILE |
| JPS61222879 | TRAVELING DEVICE |
Inventors:
Toru Takenaka
Takashi Matsumoto
Yoshihide Yoshiike
Takashi Matsumoto
Yoshihide Yoshiike
Application Number:
JP2003557767A
Publication Date:
July 20, 2005
Filing Date:
December 26, 2002
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62D57/02; B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Domestic Patent References:
| JP1086081A | ||||
| JP10217161A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba