Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
GAIT GENERATION DEVICE FOR LEGGED MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2005/000533
Kind Code:
A1
Abstract:
A vertical component etc. of floor reaction moment caused to act on a robot (1) is set as a to-be-limited amount, and an allowable range of the to-be-limited amount is established. Temporary motion of the robot, which motion satisfies a predetermined dynamic equilibrium condition in a predetermined dynamic model, is determined. When a to-be-limited amount determined by the temporary motion deviates from the allowable range, motion of a target gait is determined by correcting the temporary motion, while the to-be-limited amount is limited in the allowable range of the dynamic model, such that an angular momentum change rate of the robot is changed from that of the temporary motion.

Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2004/009470
Publication Date:
January 06, 2005
Filing Date:
June 28, 2004
Export Citation:
Click for automatic bibliography generation   Help
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:
WO2002040224A12002-05-23
WO2002087832A12002-11-07
Foreign References:
JP2002326173A2002-11-12
EP1398121A12004-03-17
Other References:
See also references of EP 1649983A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (16th floor 1-1, Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
Download PDF: