Title:
CONTROL METHOD FOR GAIT OF WALKING ROBOT
Document Type and Number:
Japanese Patent JP3536084
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To realize a real-time zero moment point(ZMP) optimum leg motion by controlling the ZMP by the receding horizon control(RHC) method, and generating a target orbit on the real-time basis.
SOLUTION: A leg type robot is modeled, X expressed by X=f1[X, U, t] is expressed by equation I, and U is expressed by equation II (wherein θ is the rotation angle of a function, u is the function torque, X is a state variable, U is input conversion, and t is time). The performance function is expressed by equation III (wherein &phiv (Tf) is terminal constraint). If the ZMP is applied at the representative center of gravity, Hamiltonian is set as equation V to satisfy equation IV. If the penalty function is added to it, an obstacle can be avoided on the real-time basis. Equation VI can be introduced by the optimum input U, and it is the ideal translational acceleration obtained from the optimum solution.
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Inventors:
Takeuchi, Hiroyoshi
Application Number:
JP25404199A
Publication Date:
June 07, 2004
Filing Date:
September 08, 1999
Export Citation:
Assignee:
AGENCY OF IND SCIENCE & TECHNOL
International Classes:
B25J5/00; B62D57/032; (IPC1-7): B25J5/00; B62D57/032