Title:
GAIT CREATION DEVICE OF LEG-TYPE MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2007/069401
Kind Code:
A1
Abstract:
A first temporary target motion track in the future of an object (120) is determined
based on the movement plan of the object (120), and a decision is made whether the
movement of the legs of a robot (1) can satisfy such requirements that the requirement
concerning positional posture relation between the object and the robot is satisfied
for a predetermined number of at least two items in the future and restrictions
on the movement of the legs of the robot (1) are satisfied for each step up to a predetermined
number of steps. If the decision result is affirmative, a target gait is created
based on the first temporary target motion track, and if the decision result is
negative, a target gait is created based on the target motion track of the object
(120) which is based on a corrected movement plan. Consequently, the situation
requiring correction of a movement plan is minimized regardless of the moving
direction of the object with respect to the robot, and a target gait permitting
movement of the object conforming to the movement plan as much as possible is created.
Inventors:
HASEGAWA TADAAKI (JP)
OHNO NOBUYUKI (JP)
OHNO NOBUYUKI (JP)
Application Number:
PCT/JP2006/321693
Publication Date:
June 21, 2007
Filing Date:
October 31, 2006
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
HASEGAWA TADAAKI (JP)
OHNO NOBUYUKI (JP)
HASEGAWA TADAAKI (JP)
OHNO NOBUYUKI (JP)
International Classes:
B25J13/00; A63H11/18; B25J5/00
Foreign References:
| JPH10217161A | 1998-08-18 | |||
| JP2006175567A | 2006-07-06 |
Other References:
None
See also references of EP 1974871A4
See also references of EP 1974871A4
Attorney, Agent or Firm:
SATO, Tatsuhiko et al. (1-1 Yoyogi 2-chome, Shibuya-k, Tokyo 53, JP)
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