Title:
INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2019/235020
Kind Code:
A1
Abstract:
[Problem] To estimate the center-of-gravity of a robot device without using a force sensor or the like. [Solution] An information processing device comprises a center-of-gravity estimating unit that: on the basis of the torque applied to at least one joint included in each of a plurality of legs, calculates a reaction force, from the surface of the ground, acting on each of the plurality of legs; and on the basis of the calculated reaction force of the plurality of legs, estimates the center-of-gravity of a robot device provided with the plurality of legs.
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Inventors:
KINOSHITA MASAYA (JP)
HONGO KAZUO (JP)
SAIJO HIROKI (JP)
HONGO KAZUO (JP)
SAIJO HIROKI (JP)
Application Number:
PCT/JP2019/010454
Publication Date:
December 12, 2019
Filing Date:
March 14, 2019
Export Citation:
Assignee:
SONY CORP (JP)
International Classes:
B25J13/08; B25J5/00; B62D57/032
Foreign References:
| JP2017144512A | 2017-08-24 | |||
| JPH06170758A | 1994-06-21 | |||
| JP2003089083A | 2003-03-25 | |||
| JPH04365576A | 1992-12-17 | |||
| JPH06170758A | 1994-06-21 |
Other References:
MATSUKI, YOSUKE: "Proposal of approximate ZMP estimation method without force sensor, ", THE ROBOTICS SOCIETY OF JAPAN, no. IF34, 14 September 2006 (2006-09-14)
See also references of EP 3785867A4
See also references of EP 3785867A4
Attorney, Agent or Firm:
SAKAI INTERNATIONAL PATENT OFFICE (JP)
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