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Patent Searching and Data


Title:
DEVICE AND METHOD FOR CONTROLLING OPERATION OF LEGGED ROBOT, AND ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2002/045913
Kind Code:
A1
Abstract:
A method for controlling the operation of a legged robot capable of accurately operating the robot while canceling the effect of rolling-, pitching-, and yawing-axis moments applied to a body during a leg operation such as walking, comprising the steps of calculating a pitching-axis and/or a rolling- axis moment produced on the body of the robot on a set ZMP produced by the set motions of an upper limb, body part, and a lower limb to obtain the motions of the lower limb and body part canceling the pitching-axis and/or rolling-axis moment, and calculating the yawing-axis moment produced on the body on the set ZMP produced by the calculated motions of the lower limb and body part to obtain the motion of the upper limb canceling the yawing-axis moment.

Inventors:
YAMAGUCHI JINICHI (JP)
KUROKI YOSHIHIRO (JP)
ISHIDA TATSUZO (JP)
Application Number:
PCT/JP2001/010012
Publication Date:
June 13, 2002
Filing Date:
November 16, 2001
Export Citation:
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Assignee:
SONY CORP (JP)
YAMAGUCHI JINICHI (JP)
KUROKI YOSHIHIRO (JP)
ISHIDA TATSUZO (JP)
International Classes:
B25J9/18; B62D57/032; G06N3/00; (IPC1-7): B25J5/00
Foreign References:
JPH07205069A1995-08-08
JPH07205070A1995-08-08
JPH10277969A1998-10-20
JP3055737B22000-06-26
JPH05305586A1993-11-19
EP1083120A22001-03-14
Other References:
See also references of EP 1344611A4
Attorney, Agent or Firm:
Yamada, Eiji (Miyata & Yamada Patent Office Ginza TK Bldg. 6F, 1-, Shintomi 1-chome Chuo-ku Tokyo, JP)
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