CONTROLLER OF LEG TYPE MOVING ROBOT

Title:

CONTROLLER OF LEG TYPE MOVING ROBOT

Document Type and Number:

WIPO Patent Application WO/2006/040867

Kind Code:

A1

Abstract:

An action force being inputted to an object dynamic model (2) is determined such that the motion state amount (object model speed) of the object dynamic model (2) follows up a target motion state amount based on the movement schedule of the object, manipulated variable of the motion state amount (object model speed) of the object dynamic model (2) is determined such that the difference between the actual object position and the target object position approaches 0, the action force and manipulated variable thus determined are then inputted to the object dynamic model (2) thus determining the target object position sequentially. Furthermore, a target object reaction from the object to a robot is determined from the action force thus determined. Consequently, the robot performs a work for moving the object while ensuring stability of the robot by determining the target motion of the object and the target action force between the object and the robot while reducing deviation of actual motion state from the motion state of the object on the object dynamic model.

Inventors:

HASEGAWA TADAAKI (JP)

Application Number:

PCT/JP2005/013841

Publication Date:

April 20, 2006

Filing Date:

July 28, 2005

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
HASEGAWA TADAAKI (JP)

International Classes:

B25J13/00; B25J5/00

Foreign References:

JP2004209614A	2004-07-29
JPH10230485A	1998-09-02
JP2003326483A	2003-11-18

Other References: