Title:
REAL-TIME OPTIMAL CONTROL METHOD FOR LEG TYPE ROBOT
Document Type and Number:
Japanese Patent JP3677623
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide zero moment point control using RHC(receding horizon control) capable of real-time optimizing calculation for a leg type robot, and control the robot through combined use of trajectory and non-linear controls using a zero moment point automatically generated in real time.
SOLUTION: In the real-time optimal control method for the leg type robot, an optimal target ZMP(zero moment point) trajectory is obtained in real time when the zero moment point of the leg type robot satisfies an equality constraint of an expression: xzmp(uz-g)=x(uz-g)-zux, and when an optimal solution is obtained by use of an expression: uzmp(uz-g)=x(uz-g)-zux with xzmp used as new input uzmp.
Inventors:
Hiroki Takeuchi
Application Number:
JP2000275690A
Publication Date:
August 03, 2005
Filing Date:
September 11, 2000
Export Citation:
Assignee:
National Institute of Advanced Industrial Science and Technology
Hiroki Takeuchi
Hiroki Takeuchi
International Classes:
B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00; B25J13/08
Other References:
Miomir Vukobratovic,ロボットの手,日本,日刊工業新聞社,1979年 8月31日