Title:
脚式ロボット、及びその制御方法
Document Type and Number:
Japanese Patent JP4392037
Kind Code:
B2
Abstract:
There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.
Inventors:
Honda Daisaku
Keisuke Suga
Tajima Ryusuke
Keisuke Suga
Tajima Ryusuke
Application Number:
JP2007237038A
Publication Date:
December 24, 2009
Filing Date:
September 12, 2007
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
Toyota Central R & D Labs.
Toyota Central R & D Labs.
International Classes:
B25J13/00; B25J5/00
Domestic Patent References:
| JP2006212736A | ||||
| JP2004167676A | ||||
| JP2006247769A | ||||
| JP2006315095A |
Other References:
宮腰 清一,二足歩行における倒立振子を規範とする上体の付加,計測自動制御学会 システムインテグレーション部門講演会(SI2005)講演論文集,日本,計測自動制御学会,2005年12月16日,pp.909-910
宮腰 清一,メモリ・ベースト二足歩行制御における倒立振子状の上体の付加,第23回日本ロボット学会学術講演会予稿集,日本,日本ロボット学会,2005年 9月15日
宮腰 清一,メモリ・ベースト二足歩行制御における倒立振子状の上体の付加,第23回日本ロボット学会学術講演会予稿集,日本,日本ロボット学会,2005年 9月15日
Attorney, Agent or Firm:
Ken Ieiri