LEGGED MOBILE ROBOT AND GAIT GENERATING DEVICE

Title:

LEGGED MOBILE ROBOT AND GAIT GENERATING DEVICE

Document Type and Number:

WIPO Patent Application WO/2006/067904

Kind Code:

A1

Abstract:

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.

More Like This:

JP2006239780	CALIBRATION METHOD AND DEVICE FOR NECK AXIS OF ROBOT AND ROBOT MANUFACTURING SYSTEM HAVING THE DEVICE
JPH07256574	HANDLING MACHINE
JP3854926	Legged walking robot

Inventors:

HASEGAWA TADAAKI (JP)

Application Number:

PCT/JP2005/017806

Publication Date:

June 29, 2006

Filing Date:

September 28, 2005

Export Citation:

Click for automatic bibliography generation Help

Assignee:

HONDA MOTOR CO LTD (JP)
HASEGAWA TADAAKI (JP)

International Classes:

B25J5/00; B25J13/00

Domestic Patent References:

WO2003057424A1

2003-07-17

Foreign References:

JPH1148170A

1999-02-23

Other References: