Title:
移動体の制御装置
Document Type and Number:
Japanese Patent JP4126064
Kind Code:
B2
Abstract:
Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions 10 of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.
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Inventors:
Toru Takenaka
Takashi Matsumoto
Yoshihide Yoshiike
Takashi Matsumoto
Yoshihide Yoshiike
Application Number:
JP2005515857A
Publication Date:
July 30, 2008
Filing Date:
November 29, 2004
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J13/00; B25J5/00; B62D57/032
Domestic Patent References:
| JP3166078A | ||||
| JP10217174A | ||||
| JP5337849A | ||||
| JP10202562A | ||||
| JP7132472A |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba