CONTROLLER OF LEGGED MOBILE ROBOT

Title:

CONTROLLER OF LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2005/000536

Kind Code:

A1

Abstract:

Occurrence of a slip of a robot moving according to a target gait is judged. The allowable ranges of controlled object variables such as the floor reaction force horizontal component and the floor reaction force momentum vertical component acting on the robot are variably set according to the result of the judgment of the slip. A tentative motion of the target gait is determined by using a dynamics model. When a controlled object variable determined by the tentative motion becomes out of its allowable range, the angular momentum change rate of the tentative motion is varied while satisfying the dynamic balance condition so that the controlled object variable may be limited within its allowable range. Thus, the tentative motion is corrected and the motion of the target gait is determined.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

Application Number:

PCT/JP2004/009477

Publication Date:

January 06, 2005

Filing Date:

June 28, 2004

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

International Classes:

B25J5/00; B25J13/00; B62D57/032; (IPC1-7): B25J5/00; B25J13/00

Domestic Patent References:

WO2002040224A1

2002-05-23

Foreign References:

JP2002326173A	2002-11-12
JPH05337849A	1993-12-21
JPH05337849A	1993-12-21
JP0213593W	2002-12-26

Other References: