Title:
GAIT PRODUCING DEVICE FOR LEG TYPE MOVABLE ROBOT
Document Type and Number:
WIPO Patent Application WO/2003/057424
Kind Code:
A1
Abstract:
The allowable range of a friction force component, such as the translation floor reaction horizontal component of a leg type movable robot (1), is set, and the temporary motion of the this-time gait of the robot (1) is determined in such a manner as to satisfy the conditions for the allowable range and the dynamic equilibrium condition that the moment produced around a temporary target floor reaction acting point be substantially equal to the temporary target floor reaction moment. The determination of the temporary motion is made by adjusting motions of two motion modes in which the ratio of occurrence of translation floor reaction to that of floor reaction moment differs. The temporary motion, and the temporary target floor reaction acting point and/or the temporary target floor reaction moment are corrected on the basis of the terminal end state of this temporary motion in such a manner as to cause the this-time gait to continue to or come closer to ordinary gait, thereby determining the this-time gait. This correction is made in a period in which the possibility of the friction force component exceeding the allowable range is low.
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Inventors:
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)
Application Number:
PCT/JP2002/013594
Publication Date:
July 17, 2003
Filing Date:
December 26, 2002
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:
B62D57/02; B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Domestic Patent References:
| WO2001087548A1 | 2001-11-22 | |||
| WO2001087548A1 | 2001-11-22 |
Foreign References:
| EP1120203A1 | 2001-08-01 | |||
| JP2000352011A | 2000-12-19 |
Other References:
See also references of EP 1475197A4
Attorney, Agent or Firm:
Sato, Tatsuhiko (1-1 Yoyogi 2-chom, Shibuya-ku Tokyo, JP)
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