Title:
CONTROL DEVICE OF LEGGED MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/090978
Kind Code:
A1
Abstract:
A control device of a legged mobile robot, wherein a state amount deviation (for example, the deviation of the vertical position of an upper body (3)), which is a deviation between an actual state amount and the state amount of a target gait pattern in the translation motion (for example, translation motion in vertical direction) of the legged mobile robot (1) in a specified direction, is obtained and the target motion of the target gait pattern is determined so that the state amount deviation can be brought into near zero, the target motion is determined by using a dynamic model by additionally inputting a virtual external force determined according to the state amount deviation into the dynamic model for generating the target gait pattern, the target floor reaction of the robot (1) is corrected according to the state amount deviation of zero, and the motion and the floor reaction of the robot (1) are allowed to follow up the target motion of the target gait pattern and the target floor reaction by a compliance control.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
Application Number:
PCT/JP2003/005446
Publication Date:
November 06, 2003
Filing Date:
April 28, 2003
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
AKIMOTO KAZUSHI (JP)
International Classes:
B62D57/032; (IPC1-7): B25J5/00
Domestic Patent References:
| WO2003057425A1 | 2003-07-17 | |||
| WO2002040224A1 | 2002-05-23 | |||
| WO2003061917A1 | 2003-07-31 |
Foreign References:
| JP2002086373A | 2002-03-26 | |||
| US5459659A | 1995-10-17 | |||
| JPH0631658A | 1994-02-08 | |||
| US5974366A | 1999-10-26 | |||
| JP2002326173A | 2002-11-12 | |||
| JP102320485A | ||||
| JPH11300661A | 1999-11-02 | |||
| JPH1086080A | 1998-04-07 | |||
| JPH03273443A | 1991-12-04 | |||
| JP2002127066A | 2002-05-08 | |||
| JP2002326173A | 2002-11-12 | |||
| JPH03233450A | 1991-10-17 | |||
| JPH10277969A | 1998-10-20 |
Other References:
HYON S.H.: "Development of a biologically inspired hopping robot-kenken", PROC. IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, May 2002 (2002-05-01), pages 3984 - 3991, XP002971322
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
Download PDF: