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Patent Searching and Data


Title:
脚式移動ロボットの歩容生成装置
Document Type and Number:
Japanese Patent JP5221689
Kind Code:
B2
Abstract:
When the placement of the elements (mass points, links having inertia, etc.) of a model expressing a robot 1 is determined according to a first geometric restrictive condition from an instantaneous desired motion of the robot 1 that has been created using a dynamic model, this placement is defined as a first placement, and the placement determined according to a second geometric restrictive condition from a corrected instantaneous desired motion that has been obtained by correcting the instantaneous desired motion is defined as a second placement. The corrected instantaneous desired motion is determined such that the moment component calculated from the difference between the first and the second placements approximates a predetermined value. The instantaneous desired motion is created using a dynamic model of the robot. Thus, the motion of the instantaneous desired gait of the robot that has been created using the dynamic model is properly corrected without using a dynamic model, leading to higher dynamic accuracy of an instantaneous desired gait including the corrected motion.

Inventors:
Toru Takenaka
Application Number:
JP2011024112A
Publication Date:
June 26, 2013
Filing Date:
February 07, 2011
Export Citation:
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Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/00; B62D57/032
Domestic Patent References:
JP10180657A
Foreign References:
WO2003057427A1
Attorney, Agent or Firm:
Creation International Patent Office