Title:
ROBOT DEVICE, MOTION CONTROL DEVICE AND MOTION CONTROL METHOD OF ROBOT DEVICE
Document Type and Number:
Japanese Patent JP3599244
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To generate a stable motion pattern to transfer between grounding/non-grounding in real time.
SOLUTION: An equation of motion with a boundary condition concerning a center of gravity horizontal track of a robot in the future is solved so as to be continuously connected to current center of gravity horizontal position/speed under a condition that a moment around a horizontal shaft around a point within a supporting polygon at the time of grounding is zero or translational force in the horizontal direction at the time of non-grounding is zero, the equation of motion with the boundary condition concerning a center of gravity vertical track of the robot in the future is solved so as to be continuously connected to current center of gravity vertical position/speed under a condition that the translational force in the vertical direction working on other than gravitation at the time of non-grounding becomes zero, and a condition of motion of following time is decided so as to realize the decided center of gravity position as a moment around a center of gravity moment at the time of non-grounding becomes zero.
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Inventors:
Kenichiro Nagasaka
Application Number:
JP2003365549A
Publication Date:
December 08, 2004
Filing Date:
October 27, 2003
Export Citation:
Assignee:
ソニー株式会社
International Classes:
A63H11/00; A63H11/18; B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00; B25J13/08
Foreign References:
| WO2003057426A1 |
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Toshio Sawada
Eiji Yamada
Toshio Sawada