Title:
WALKING ATTITUDE PRODUCING DEVICE OF MOBILE ROBOT WITH LEGS
Document Type and Number:
Japanese Patent JP3672406
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a walking attitude producing device for a leg type mobile robot, in particular a two-foot walking robot, with which it is practicable to produce any desired walking attitude to enable continuous walking for a long period.
SOLUTION: Two walking attitudes are produced for one step, and if there is any discontinuous quantity at their boundary such as the position and/or speed of the upper body of robot, or ZMP(zero moment point), the input obtained on the basis of the inverse number of the discontinuous quantity is given to a perturbational dynamic model so as to cancel the discontinuous quantity, and the produced walking attitude is corrected with the output, and a walking attitude is accomplished which has a continuous robot upper body position and/or speed or ZMP even at the boundary.
Inventors:
Toru Takenaka
Application Number:
JP3317597A
Publication Date:
July 20, 2005
Filing Date:
January 31, 1997
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62D57/02; B25J5/00; (IPC1-7): B25J5/00
Domestic Patent References:
| JP5337849A |
Attorney, Agent or Firm:
Yutaka Yoshida