GAIT PRODUCING DEVICE FOR LEG TYPE MOVABLE ROBOT

Title:

GAIT PRODUCING DEVICE FOR LEG TYPE MOVABLE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/057422

Kind Code:

A1

Abstract:

It comprises a means for determining the target path of the translation floor reaction vertical component of a leg type movable robot (1) or the target path of the overall barycenter acceleration vertical component or the target path of upper body acceleration vertical component of the robot (1), and determining the target vertical position of the overall barycenter of the robot (1) or the target vertical position of an upper body (24) in such a manner as to satisfy the target path, and a means for determining the target vertical position of the overall barycenter or of the upper body (24) on the basis of geometrical conditions for the joint of a leg body (2). A selection is made from these target vertical positions according to the gait form including walking and running, or these target vertical positions are combined as by weighted average and the resulting combination is used as the final target vertical position.

Inventors:

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

Application Number:

PCT/JP2002/013591

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): B25J5/00

Foreign References:

JPH0248283A	1990-02-19
JP2001138273A	2001-05-22
EP0765797A2	1997-04-02

Other References: