Title:
GAIT GENERATOR OF LEGGED MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO2006040868
Kind Code:
A8
Abstract:
While imparting, to an object dynamic model, a model operation amount (estimated disturbance) for bringing the behavior of an object (120) on the object dynamic model close to the actual behavior, a target motion path of the object (120) and a target object reaction path are determined for a predetermined period from now using the object dynamic model and the gait of a robot (1) for the predetermined period is generated temporarily using the paths. On the basis of the gait and the target motion path, geometrical constraint condition such as of interference of the robot (1) and the object (120), are checked and the move schedule of the object (120) and the gait parameters (e.g. scheduled landing position and posture) of the robot (1) are corrected appropriately according to the check, thus generating the gait of the robot (1). Consequently, a target gait satisfying the required geometrical constraint condition such as interference of the robot (1) and the object is generated while performing motion control of the robot (1) and reflecting the actual environmental condition in real time.
Inventors:
HASEGAWA TADAAKI (JP)
Application Number:
PCT/JP2005/013842
Publication Date:
March 22, 2007
Filing Date:
July 28, 2005
Export Citation:
Assignee:
HONDA MOTOR CO LTD (JP)
HASEGAWA TADAAKI (JP)
HASEGAWA TADAAKI (JP)
International Classes:
B25J5/00; B25J13/00
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