Title:
CONTROL DEVICE FOR MOBILE BODY
Document Type and Number:
WIPO Patent Application WO/2005/051608
Kind Code:
A2
Abstract:
Ground contact sections (10) of a mobile body (1) (mobile robot) having three or more ground contact sections (10) are classified into a tree structure such that each of the ground contact sections (10) is a leaf node and that an intermediate section is present between the leaf node and a root node having all the leaf nodes as descendent nodes. For each node (C-th node) having child nodes, the amount of correction of target relative heights of ground contact sections (10) of the C-th node are determined. The above determination is made such that a deviation (attitude inclination deviation) between an actual attitude inclination of a predetermined section such as at least a base body (36) and a target attitude inclination nears zero. Joints of the mobile body (1) are operated to satisfy the target relative heights obtained by composing the correction amounts.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2004/018072
Publication Date:
June 09, 2005
Filing Date:
November 29, 2004
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
International Classes:
B25J5/00; B25J13/00; B62D57/032; (IPC1-7): B25J/
Foreign References:
| JPH03166078A | 1991-07-18 | |||
| JPH10217174A | 1998-08-18 | |||
| JPH10202562A | 1998-08-04 | |||
| JPH07132472A | 1995-05-23 | |||
| JPH05337849A | 1993-12-21 |
Other References:
None
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
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