Title:
MOBILE DEVICE, AND MOBILE DEVICE CONTROL METHOD
Document Type and Number:
Japanese Patent JP2022110261
Kind Code:
A
Abstract:
To enable a leg-wheel robot to travel according to a predetermined target speed even on a travel surface like stairs, with each leg thereof being in contact with the ground within a movement range corresponding to the leg.SOLUTION: A method comprises: acquiring travel surface information for a leg-wheel robot which travels while alternately switching between a ground period in which a leg tip wheel is in contact with a travel surface in the traveling, and a free leg period in which the leg tip wheel is separated from the travel surface; calculating a movement range corresponding to each leg of the leg-wheel robot, within which the leg can travel in contact with the travel surface; and generating leg trajectory information for causing the leg-wheel robot to travel according to a predetermined target speed, with the legs being in contact with the ground within the respective movement ranges corresponding to the legs.SELECTED DRAWING: Figure 9
Inventors:
TAKASUGI NORIAKI
KINOSHITA MASAYA
KINOSHITA MASAYA
Application Number:
JP2021005545A
Publication Date:
July 29, 2022
Filing Date:
January 18, 2021
Export Citation:
Assignee:
SONY GROUP CORP
International Classes:
B25J13/00; B25J5/00; G05D1/02
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Toshio Sawada
Eiji Sasaki
Daido Patent Office
Eiji Yamada
Toshio Sawada
Eiji Sasaki
Daido Patent Office