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Title:
APPARATUS WALKING WITH TWO LEGS, WALKING CONTROL APPARATUS, AND WALKING CONTROL METHOD THEREOF
Document Type and Number:
WIPO Patent Application WO/2002/100606
Kind Code:
A1
Abstract:
An apparatus walking with two legs capable of reliably controlling walking even when a landing position is predetermined such as on stepping stone or when striding over an obstacle or going under an obstacle by compensating the ZMP target value without modifying the operation traces of joint portions. The apparatus walking with two legs includes a walking pattern generation block (24) generating walking pattern data including a target angular orbit, a target angular velocity, and a target angular acceleration, and a walking control apparatus (30) for driving and controlling according to the walking pattern data. A ZMP compensation block (36) is provided so as to compare the ZMP measured value in each of the legs (14L, 14R) with a ZMP target value calculated according to the walking pattern data from the walking pattern generation block and correct the target angular velocity and angular acceleration of the walking pattern data from the walking pattern generation block, thereby compensating the ZMP target value.

Inventors:
FURUTA TAKAYUKI (JP)
TOMIYAMA KEN (JP)
KITANO HIROAKI (JP)
Application Number:
PCT/JP2002/005422
Publication Date:
December 19, 2002
Filing Date:
June 03, 2002
Export Citation:
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Assignee:
JAPAN SCIENCE & TECH CORP (JP)
FURUTA TAKAYUKI (JP)
TOMIYAMA KEN (JP)
KITANO HIROAKI (JP)
International Classes:
B25J5/00; B25J13/00; B62D57/032; (IPC1-7): B25J5/00
Foreign References:
US5432417A1995-07-11
EP1081026A22001-03-07
US5355064A1994-10-11
US5808433A1998-09-15
Other References:
HAJIME TAKAGI: "Nisoku hoko ni okeru hoko anteika-sijikyaku ashikubi o mochiita jitsujikan ZMP hosho kiko no kochiku-", THE ROBOTIC SOCIETY OF JAPAN GAKUJUTSU KOENKAI YOKOSHU, vol. 3, 12 September 2000 (2000-09-12), pages 1103 - 1104, XP002960208
See also references of EP 1393866A4
Attorney, Agent or Firm:
Hirayama, Kazuyuki (Shinjukugyoen Bldg. 3-1, Shinjuku 2-chome Shinjuku-ku Tokyo, JP)
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