Title:
LEGGED ROBOT
Document Type and Number:
WIPO Patent Application WO/2008/029955
Kind Code:
A1
Abstract:
A legged robot capable of traveling by repeating a jump cycle including a ground
contact phase from touch on the ground to swing forward again and an aerial phase
from swing forward to touch on the ground again, which touches the ground smoothly
at the touch timing after the jump matching a scheduled timing. A measuring section
(126) of a legged robot (100) measures the real aerial phase time at a k-th
jump cycle. A difference section (124) calculates the time difference between
the target aerial phase at the k-th jump cycle and the real aerial phase
time. A target speed determining section (128) calculates the target vertical
speed of the center of gravity oat the swing-forward at the (k+1)-th jump
cycle so as to eliminate the time difference ΔT. At the (k+1)-th
jump cycle, the motors (109) of the joints are controlled so that the calculated
target vertical speed may be realized. With this, at the (k+1)-th jump
cycle, the time difference ΔT caused at the k-th cycle can be compensated,
and jumping enabling smooth touch on the ground is realized while touch-timing
matches a scheduled timing.
Inventors:
SUGA, Keisuke (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
菅敬介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
HONDA, Daisaku (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
本田大作 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
菅敬介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
HONDA, Daisaku (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
本田大作 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
Application Number:
JP2007/067777
Publication Date:
March 13, 2008
Filing Date:
September 06, 2007
Export Citation:
Assignee:
TOYOTA JIDOSHA KABUSHIKI KAISHA (1 Toyota-cho, Toyota-shi Aichi, 71, 4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 4718571, JP)
SUGA, Keisuke (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
菅敬介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
HONDA, Daisaku (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
トヨタ自動車株式会社 (〒71 愛知県豊田市トヨタ町１番地 Aichi, 4718571, JP)
SUGA, Keisuke (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
菅敬介 (〒71 愛知県豊田市トヨタ町１番地トヨタ自動車株式会社内 Aichi, 4718571, JP)
HONDA, Daisaku (1 Toyota-cho Toyota-sh, Aichi 71, 4718571, JP)
International Classes:
B25J5/00; B25J13/00
Attorney, Agent or Firm:
KAI-U PATENT LAW FIRM (NISSEKI MEIEKI BUILDING 7F 45-14, Meieki 2-chomeNakamura-ku, , Nagoya-sh, Aichi 02, 4500002, JP)
Download PDF: