Title:
移動ロボットの歩容生成装置
Document Type and Number:
Japanese Patent JP4800037
Kind Code:
B2
Abstract:
The placement of the elements (mass points or rigid bodies having inertia) of a model expressing a robot 1 determined according to a first geometric restrictive condition from an instantaneous desired motion of the robot 1 is defined as a first placement, and provisional corrected instantaneous desired motions corresponding to a second placement and a third placement having predetermined relationships with the first placement are determined. The position/posture of a predetermined part 3 (body) of the robot 1 are determined by weighted averages of the position/posture of the aforesaid provisional corrected instantaneous desired motions. Thus, the motion of an instantaneous desired gait created using a dynamic model is properly corrected thereby achieving both improved dynamic accuracy between the motion and a floor reaction force of the instantaneous desired gait and a minimized change in the posture of a predetermined part, such as the body, of the robot without using a dynamic model.
Inventors:
Toru Takenaka
Takashi Matsumoto
Yoshihide Yoshiike
Takashi Matsumoto
Yoshihide Yoshiike
Application Number:
JP2005517747A
Publication Date:
October 26, 2011
Filing Date:
February 04, 2005
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/00; B62D57/032
Domestic Patent References:
| JPH0994785A | 1997-04-08 | |||
| JPH05237776A | 1993-09-17 | |||
| JPH05318339A | 1993-12-03 | |||
| JP2002086373A | 2002-03-26 |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba