Title:
ロボットの運動制御装置
Document Type and Number:
Japanese Patent JP3972854
Kind Code:
B2
Abstract:
A plurality of tasks such as a displacement, balance keeping, and an arm operation are simultaneously executed. Movement constraint conditions imposed to a legged robot corresponding to a task and a movement state are given by equality and inequality constraint equations regarding to a variation dx from the present state while a drive strategy of a redundancy is defined by an energy function. In regard to changes in a movement constraint condition, it is not required to have control systems specialized for each constraint condition but the changes can be corresponded only by changes in matrixes A and C and vectors b and d, so that various and dynamic constraint conditions are easily addressed. Also, a using method of the redundancy can be corresponded only by changes in a matrix W and a vector u.
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Inventors:
Kenichiro Nagasaka
Application Number:
JP2003106166A
Publication Date:
September 05, 2007
Filing Date:
April 10, 2003
Export Citation:
Assignee:
ソニー株式会社
International Classes:
B25J5/00; B62D57/032; G06N3/00
Domestic Patent References:
| JP2003058907A | ||||
| JP2001150370A | ||||
| JP10230485A | ||||
| JP5318340A |
Attorney, Agent or Firm:
Masaaki Miyata
Eiji Yamada
Toshio Sawada
Eiji Yamada
Toshio Sawada