Title:
脚式移動ロボットの歩容生成装置
Document Type and Number:
Japanese Patent JP3679105
Kind Code:
B2
Abstract:
A gait generation device includes means for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot 1, a limitation-target quantity, such as a ZMP, and an allowable range, means for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot 1, and means that receives at least the provisional instantaneous value for the desired movement and determines a provisional instantaneous value for the desired movement which determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.
Inventors:
Toru Takenaka
Takashi Matsumoto
Yoshihide Yoshiike
Takashi Matsumoto
Yoshihide Yoshiike
Application Number:
JP2003557768A
Publication Date:
August 03, 2005
Filing Date:
December 27, 2002
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Domestic Patent References:
| JP5337849A | ||||
| JP10217161A | ||||
| JP1086081A | ||||
| JP2002326173A |
Foreign References:
| WO2002040224A1 |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba