GAIT GENERATION DEVICE FOR LEGGED MOBILE ROBOT

Title:

GAIT GENERATION DEVICE FOR LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/057429

Kind Code:

A1

Abstract:

A gait generation device for generating an aimed gait repeating alternately an in-the-air period where all the legs (2, 2) of a legged mobile robot (1) are made to stay in the air and a landing period where at least one of the legs (2, 2) is made to land on the ground. At least in transition from the in-the-air period to the landing period, the device generates an aimed gait so that the speed with respect to the ground and the acceleration with respect to the ground of the leg end (22) that is made to land is approximately zero at the moment of the landing. After both speed with respect to the ground and acceleration with respect to the ground at the moment of landing of the leg body end have been determined to be approximately zero, the movement of the upper body of the robot in the aimed gait is determined so that the horizontal component of the moment generated about the aimed ZMP by the resultant force of the gravity and inertia force acting on the robot (1) is approximately zero. This eliminates the landing shock.

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Inventors:

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

Application Number:

PCT/JP2002/013595

Publication Date:

July 17, 2003

Filing Date:

December 26, 2002

Export Citation:

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Assignee:

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

International Classes:

B62D57/02; B62D57/032; (IPC1-7): B25J13/00; B25J5/00

Foreign References:

JP2001138273A	2001-05-22
JPH0248283A	1990-02-19
US5594644A	1997-01-14
JPH1086081A	1998-04-07
JPH04201190A	1992-07-22
EP0765797A2	1997-04-02

Other References: