Title:
BIPED WALKING ROBOT AND METHOD OF DETERMINING THE FOOT-LANDING TIMING FOR THE BIPED WALKING ROBOT
Document Type and Number:
WIPO Patent Application WO/2012/011182
Kind Code:
A1
Abstract:
Provided is a method for determining the timing with which a biped walking robot lands a foot. In this method, first, a ZMP equation representative of the track of a center of gravity is solved using a given landing timing, the equation including a first single-foot ground contact period during which the robot stands only on a first foot and a second single-foot ground contact period during which the robot stands only on a second foot subsequently after the first single-foot ground contact period. A second-foot ZMP position is calculated which is indicative of a ZMP position during the second single-foot ground contact period. If the resulting second-foot ZMP position is out of a second-foot ZMP tolerable region which is defined corresponding to a second-foot landing allowable region, the landing timing is modified so that the second-foot ZMP position is within the second-foot ZMP tolerable region.
Inventors:
DOI Masahiro (1 Toyota-cho, Toyota-sh, Aichi 71, 〒4718571, JP)
Application Number:
JP2010/062360
Publication Date:
January 26, 2012
Filing Date:
July 22, 2010
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA (1 Toyota-cho, Toyota-shi Aichi, 71, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 〒4718571, JP)
International Classes:
B25J5/00; B25J13/00
Attorney, Agent or Firm:
KAI-U PATENT LAW FIRM (NISSEKI MEIEKI BUILDING 7F, 45-14 Meieki 2-chome, Nakamura-ku, Nagoya-sh, Aichi 02, 〒4500002, JP)
Claims: