Title:
GAIT GENERATOR OF MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2005/075156
Kind Code:
A1
Abstract:
The arrangement of the element of a model (rigid body having a mass point and inertia) representing a robot (1) when determined from an instantaneous target motion of the robot (1) according to first geometrical restriction conditions is defined as a first arrangement, and then temporary correction instantaneous target motions corresponding to second and third arrangements having specified relations to the first arrangement are determined. Positional attitude at a specified part (3) (upper body) of the robot (1) is determined by weighted average of the positional attitude of these temporary correction instantaneous target motions. Motion in an instantaneous target gait obtained using a dynamic model is thereby corrected properly to enhance dynamic precision between the instantaneous target gait and floor reaction without using a dynamic model while minimizing variation in the attitude at a specified part, e.g. the upper body, of the robot as much as possible.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2005/001693
Publication Date:
August 18, 2005
Filing Date:
February 04, 2005
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
Foreign References:
| JPH0994785A | 1997-04-08 | |||
| JPH05237776A | 1993-09-17 | |||
| JPH05318339A | 1993-12-03 | |||
| JP2002086373A | 2002-03-26 |
Other References:
See also references of EP 1721711A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo 53, JP)
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