Title:
WALKING FORMING DEVICE FOR LEG TYPE MOVING ROBOT
Document Type and Number:
Japanese Patent JP3132156
Kind Code:
B2
Abstract:
PURPOSE: To make a robot walk stably even it moves on a place where two or more of planes such as rough terrain, etc. continue by providing a means to determine a walking so that a ZMP position obtained by dynamics is positioned at a set ZMP target position.
CONSTITUTION: When a surface to be walked by a robot includes at least two planes of No.1 and No.2, a virtual No.3 plane which varies continuously from the No.1 plane to the No.2 plane is assumed. Next, a ZMP target position of the robot is set virtually on it. Then a walking of robot is determined so that the ZMP position obtained by dynamics is positioned at the set ZMP target position to move the ZMP continuously even if the planes are different from each other. Here the ZMP means a point on a floor at which a moment caused by floor reaction in walking becomes zero. Thus the robot can walk stably even on rough terrains.
Inventors:
Tohru Takenaka
Tadaaki Hasegawa
Tadaaki Hasegawa
Application Number:
JP15591692A
Publication Date:
February 05, 2001
Filing Date:
May 22, 1992
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J9/10; B62D57/032; (IPC1-7): B25J5/00; B25J9/10
Domestic Patent References:
| JP6297005A | ||||
| JP63150176A |
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)