Title:
脚式ロボットと脚式ロボットの歩行制御方法
Document Type and Number:
Japanese Patent JP4168943
Kind Code:
B2
Abstract:
A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing means 210 for storing leg tip gait data describing a time-series change in a target leg tip motion, storing means 210 for storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection means 218, 220 for detecting an actual torso motion, deviation calculation means 312 for calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation means 308 for determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction means 306 for correcting the target torso gait data based on the determined correction quantity.
Inventors:
Takashi Yamamoto
Sugihara Hisayoshi
Keisuke Suga
Yuji Tsusaka
Tajima Ryusuke
Sugihara Hisayoshi
Keisuke Suga
Yuji Tsusaka
Tajima Ryusuke
Application Number:
JP2004020328A
Publication Date:
October 22, 2008
Filing Date:
January 28, 2004
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA
International Classes:
B25J13/00; B25J5/00; B62D57/032
Other References:
長坂憲一郎、稲葉雅幸、井上博允,体幹位置コンプライアンス制御を用いた人間型ロボットの歩行安定化,第17回日本ロボット学会学術講演会,日本,社団法人日本ロボット学会,1999年 9月 9日,第1193乃至1994頁
Satosihi Kagami, James J. Kuffer Jr., Koichi Nixhiwaki, Tomomichi Sugihara, Takashi Michitaka, Takuma Aoyama, Masayuki Inaba, Hirochika Inoue,Design and Implementation of Remotely Operation Interface for Humanoid Robot,Proceeding of the 2001 IEEE International Cnference on Robotics and Automation,米国,IEEE,2001年 5月21日,pp.401-406
Satosihi Kagami, James J. Kuffer Jr., Koichi Nixhiwaki, Tomomichi Sugihara, Takashi Michitaka, Takuma Aoyama, Masayuki Inaba, Hirochika Inoue,Design and Implementation of Remotely Operation Interface for Humanoid Robot,Proceeding of the 2001 IEEE International Cnference on Robotics and Automation,米国,IEEE,2001年 5月21日,pp.401-406
Attorney, Agent or Firm:
Kaiyu International Patent Office