PHASE REACTION CURVE LEARNING METHOD AND DEVICE, PERIODIC MOTION CONTROL METHOD AND DEVICE, AND WALKING CONTROL DEVICE

WIPO Patent Application WO/2007/063633

A1

A phase reaction curve learning method for updating a phase reaction curve effective in stabilizing a periodic motion such as walking and so forth are provided. In a phase reaction curve learning device (1), a synchronous event detecting section (12) detects whether or not an event in which synchronous motion between a controller (3) and a two-legged walking robot (5) is set up (hereinafter referred to as a synchronous event) occurs. If an occurrence of synchronous event is detected by a synchronous event detecting section (12), a success/failure judging section (13) judges the success/failure of the synchronous event. A reward setting section (14) sets a reward as the level of the achievement of each event depending on the result of the judgment by the success/failure judging section (13). A curve parameter updating section (15) updates a curve parameter (11a) so that the total of the rewards of the events set by the reward setting section (14) may be a maximum value. The controller (3) sets up synchronization between the controller (3) and the two-legged walking robot (5) by resetting the phase according to the phase reaction curve optimized by the phase reaction curve learning device (1).

MORIMOTO JUN
NAKANISHI JUN
ENDO GEN
CHENG GORDON
KAWATO MITSUO

PCT/JP2006/318504

June 07, 2007

September 19, 2006

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JAPAN SCIENCE & TECH AGENCY (JP)
ATR ADVANCED TELECOMM RES INST
SONY CORP
MORIMOTO JUN
NAKANISHI JUN
ENDO GEN
CHENG GORDON
KAWATO MITSUO

B25J5/00; B25J13/00; G05B13/02

JP2005096068A	2005-04-14
JP2004202652A	2004-07-22
JPH05305583A	1993-11-19

KOHNO, Takao (4-3, Tsuriganecho 2-chome,, Chuo-ku, Osaka-sh, Osaka 35, JP)

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