Title:
REAL-TIME OPTIMAL CONTROL METHOD FOR WALKING ROBOT
Document Type and Number:
WIPO Patent Application WO/2002/022319
Kind Code:
A1
Abstract:
A zero-moment-point control for a walking robot, using an RHC that permits a real-time optimal control calculation. A method of controlling a robot characterized by using, in combination, a path control that uses a zero-moment-point automatically generated in real time, and a non-linear control. A real time optimal control method for a walking robot, meeting the above requirements and being characterized by providing in real time an optimal target ZMP path when determining an optimal solution using u¿zmp?(u¿z? - g) = x(u¿z? - g) - zu¿x? with a new input u¿zmp? used for x¿zmp?, where a zero-moment-point of a walking robot satisfies an equation restricting condition x¿zmp?(u¿z? - g) = x(u¿z? - g) - zu¿x?.
More Like This:
| JP2023554250 | Robot system to clear clutter |
| WO/2022/080596 | MOBILE ROBOT AND CONTROL METHOD THEREFOR |
| JP2960292 | MULTIFUNCTION ROBOT |
Inventors:
TAKEUCHI HIROKI (JP)
Application Number:
PCT/JP2001/002775
Publication Date:
March 21, 2002
Filing Date:
March 30, 2001
Export Citation:
Assignee:
JP NAT INST OF ADVANCED IND SC (JP)
TAKEUCHI HIROKI (JP)
TAKEUCHI HIROKI (JP)
International Classes:
B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00
Foreign References:
| JPH06170758A | 1994-06-21 | |||
| EP0965416A1 | 1999-12-22 |
Attorney, Agent or Firm:
Kawai, Haruo (Iwamotocho 2-chome Chiyoda-ku Tokyo, JP)
Download PDF:
Previous Patent: MARKING OUT METHOD AND SYSTEM
Next Patent: A MANIPULATOR TO MOVE AN OBJECT IN THE SPACE WITH AT LEAST TREE ARMS
Next Patent: A MANIPULATOR TO MOVE AN OBJECT IN THE SPACE WITH AT LEAST TREE ARMS