Title:
GAIT GENERATOR FOR MOBILE ROBOT
Document Type and Number:
WIPO Patent Application WO/2005/077611
Kind Code:
A1
Abstract:
A first gait parameter for specifying a target gait is determined such that the gait boundary condition is satisfied on a first dynamic model of a gait generator having n dynamic models. The first gait parameter is modified step by step using m-th dynamic model, that is, a dynamic model other than the first dynamic model (m is an integer satisfying 2≤m≤n). Thus the m-th gait parameter satisfying the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by modifying the (m-1)-th gait parameter to be modified according to the extent of difference from the boundary condition of the gait generated on the m-th dynamic model using the (m-1)-th gait parameter. The target gait is generated using the n-th dynamic model and n-th gait parameter lastly determined.
Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2005/002354
Publication Date:
August 25, 2005
Filing Date:
February 16, 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
Domestic Patent References:
| WO2003057429A1 | 2003-07-17 |
Foreign References:
| JP2002326173A | 2002-11-12 |
Other References:
See also references of EP 1738878A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo 53, JP)
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