LEGGED MOBILE ROBOT AND GAIT GENERATING DEVICE

WIPO Patent Application WO/2006/067904

A1

When a new target gait of a robot is generated, it is judged, on the assumption that the trajectory of an acting force between a robot and an object at future predetermined time changes to a trajectory different from the target trajectory, that a predetermined dynamic restriction condition can be satisfied when a target gait after the predetermined time is generated. If the condition cannot be satisfied, the movement plan of the object is corrected, the target trajectory of the acting force between the robot and object is re-determined, and a new target gait is generated by using the target trajectory. With this, the gait of the robot to make the robot move the object is generated so that the stability of the orientation of the robot is ensured even if the future acting force between the robot and the object deviates from the target value.

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Hasegawa, Tadaaki c/o KABUSHIKI KAISHA HONDA GIJUTSU KENKYUSHO (4-1 Chuo 1-chom, Wako-shi Saitama 93, 35101, JP)

PCT/JP2005/017806

June 29, 2006

September 28, 2005

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HONDA MOTOR CO., LTD. (1-1 Minami-Aoyama 2-chome, Minato-ku, Tokyo 56, 10785, JP)
Hasegawa, Tadaaki c/o KABUSHIKI KAISHA HONDA GIJUTSU KENKYUSHO (4-1 Chuo 1-chom, Wako-shi Saitama 93, 35101, JP)

B25J5/00; B25J13/00

Sato, Tatsuhiko (Shinjuku Maynds Tower 16F, 1-1 Yoyogi 2-chom, Shibuya-ku Tokyo 53, 15100, JP)

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