Title:
移動ロボットの歩容生成装置
Document Type and Number:
Japanese Patent JP4800038
Kind Code:
B2
Abstract:
A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2¤m¤n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m-1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m-1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
Inventors:
Toru Takenaka
Takashi Matsumoto
Yoshihide Yoshiike
Takashi Matsumoto
Yoshihide Yoshiike
Application Number:
JP2005518038A
Publication Date:
October 26, 2011
Filing Date:
February 16, 2005
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/00; B62D57/032
Domestic Patent References:
| JPH05253866A | 1993-10-05 | |||
| JP2001191284A | 2001-07-17 | |||
| JP2003311669A | 2003-11-05 |
Attorney, Agent or Firm:
Tatsuhiko Sato
Takehiro Chiba
Takehiro Chiba