Title:
駆動方法、駆動制御装置及びロボット
Document Type and Number:
Japanese Patent JP4951732
Kind Code:
B2
Abstract:
A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.
Inventors:
Atsushi Morimoto
Gen Endo
Atsushi Nakanishi
Gordon Chen
Gen Endo
Atsushi Nakanishi
Gordon Chen
Application Number:
JP2006128372A
Publication Date:
June 13, 2012
Filing Date:
May 02, 2006
Export Citation:
Assignee:
ソニー株式会社
独立行政法人科学技術振興機構
株式会社国際電気通信基礎技術研究所
独立行政法人科学技術振興機構
株式会社国際電気通信基礎技術研究所
International Classes:
B25J5/00; A63H11/18
Domestic Patent References:
| JP2005052968A | ||||
| JP2005088113A | ||||
| JP5305586A | ||||
| JP2003159676A |
Attorney, Agent or Firm:
Nobuo Kono
Hideno Kono
Hideno Kono