Title:
CONTROL DEVICE AND FOOTSTEP DETERMINATION DEVICE FOR LEGGED MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/090982
Kind Code:
A1
Abstract:
A control device and a footstep determination device for a legged mobile robot, wherein the landing position and landing direction of a foot (22) landing in the landing operation of the robot (1) such as a bipedal mobile robot are estimated and the target footstep route of the robot (1) is set up, future target landing position and target landing direction are determined based on the estimated landing position and landing direction and the target footstep route so that the actual footstep route (rows of landing positions and landing directions of the foot (22)) of the robot (1) near the target footstep route, the target gait pattern of the robot (1) is determined by using at least the determined target landing position and target landing direction, the operational control of the robot (1) is performed according to the target gait pattern, and when the target landing position and landing direction are determined, the mechanical restricting conditions of the robot (1) itself such as an interference between leg bodies and the restricting conditions in the target ZMP presence allowable range.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
MATSUMOTO TAKASHI (JP)
Application Number:
PCT/JP2003/005450
Publication Date:
November 06, 2003
Filing Date:
April 28, 2003
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
International Classes:
B62D57/02; B62D57/032; (IPC1-7): B25J13/00; B25J5/00
Foreign References:
| EP1120203A1 | 2001-08-01 | |||
| EP1083120A2 | 2001-03-14 | |||
| EP1120203A1 | 2001-08-01 | |||
| EP1083120A2 | 2001-03-14 |
Other References:
See also references of EP 1504858A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
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