Title:
GAIT GENERATING DEVICE OF LEGGED MOBILE ROBOT AND LEGGED MOBILE ROBOT CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2005/000535
Kind Code:
A1
Abstract:
The allowable range of a controlled object variable such as the floor reaction force momentum vertical component, the floor reaction force momentum floor surface normal direction component, the robot angular momentum change rate vertical component, or the angular momentum change rate floor surface normal direction component are set. At least the tentative instantaneous value of a target motion is inputted into a dynamics model. A model controlled object variable instantaneous value, i.e., the output of the dynamics model is determined. The tentative instantaneous value of the target motion is corrected so that at least the model controlled object variable instantaneous value may be within the allowable range, thereby determining the instantaneous value of the target motion.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2004/009476
Publication Date:
January 06, 2005
Filing Date:
June 28, 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): B25J5/00; B25J13/00
Domestic Patent References:
| WO2002040224A1 | 2002-05-23 |
Foreign References:
| JP2002326173A | 2002-11-12 | |||
| JPH05337849A | 1993-12-21 |
Other References:
See also references of EP 1642688A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chome, Shibuya-ku Tokyo 53, JP)
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