Title:
ROBOT DEVICE AND CONTROL METHOD OF ROBOT DEVICE
Document Type and Number:
WIPO Patent Application WO/2004/030870
Kind Code:
A1
Abstract:
A walking control system is so configured as to input the motion-status quantity of a robot measured by a sensor or the like and real-world quantities such a an external force, an external force moment and an environmental pattern. When all the calculations involved with body balance keeping is summarized as a single walking pattern computation, a gait generation function is efficiently made compatible with an adaptive control function, and the consistency of dynamic models is guaranteed to remove interference between respective dynamic models. A robot’s walking pattern generation computation can be performed in real time on a real machine in such a form that parameters such as boundary conditions relating to motion status quantity, an external force, an external force moment and a sole path can be set.
More Like This:
| JPS54115862 | CARGO SHIFTING DEVICE |
Inventors:
NAGASAKA KENICHIRO (JP)
Application Number:
PCT/JP2003/012474
Publication Date:
April 15, 2004
Filing Date:
September 30, 2003
Export Citation:
Assignee:
SONY CORP (JP)
NAGASAKA KENICHIRO (JP)
NAGASAKA KENICHIRO (JP)
International Classes:
B62D57/02; B62D57/032; (IPC1-7): B25J5/00
Foreign References:
| JPH10217161A | 1998-08-18 |
Other References:
VOKOBRATOVIC MIOMIR: "Hoko robot to jinko no ashi", THE NIKKAN KOGYO SHINBUN LTD., 31 March 1975 (1975-03-31), pages 55, XP002977492
Attorney, Agent or Firm:
Yamada, Eiji (Miyata & Yamada Patent Office Ginza TK
Building, 1-7, Shintomi 1-chom, Chuo-ku Tokyo, JP)
Download PDF: