Title:
MOVEMENT DEVICE, MOVEMENT DEVICE CONTROL METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2023/021734
Kind Code:
A1
Abstract:
Provided are a device and method for efficiently determining an optimal path along which a movement device such as a legged robot can travel safely. The present invention comprises a path planning unit that determines a travel path of a movement device such as a legged robot. The path planning unit calculates a path cost by applying a cost calculation algorithm in which each of a plurality of candidate paths is given a smaller cost as the candidate path enables the movement device to travel more stably, and determines a candidate path with the lowest calculated path cost as an optimal travel path. The path planning unit sets a plurality of sampling points on a path, calculates each sampling point cost by applying a cost calculation algorithm in which each sampling point is given a larger cost as a difference between the heights of grounding positions of left and right legs at the sampling point becomes larger, and calculates the sum of the sampling point costs as the path cost.
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Inventors:
SUZUKI ATSUSHI (JP)
Application Number:
PCT/JP2022/006848
Publication Date:
February 23, 2023
Filing Date:
February 21, 2022
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
G05D1/02
Foreign References:
| JP2013033356A | 2013-02-14 | |||
| JP2019079375A | 2019-05-23 |
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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