Title:
ROBOT DEVICE, MOTION CONTROL DEVICE FOR ROBOT DEVICE AND MOTION CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2004/041484
Kind Code:
A1
Abstract:
A boundary condition-carrying motion equation relating to the future center-of-gravity horizontal path of a robot is solved so that moment around a horizontal axis around a point in a supporting polygon at ground contact is zero or a horizontal-direction translation force at no ground contact is zero, and a continuous connection to the current center-of-gravity horizontal position/speed is ensured, a boundary condition-carrying motion equation relating to the future center-of-gravity vertical path of a robot is solved so that a vertical-direction translation force excluding gravity acting at no ground contact is zero, and a continuous connection to the current center-of-gravity vertical position/speed is ensured, and the next-clock motion status is determined so that moment around center-of-gravity moment at no ground contact is zero and the above determined center-of-gravity position is realized. Accordingly, a stable motion pattern for transition between ground contact and no ground contact can be generated in real time.
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Inventors:
NAGASAKA KENICHIRO (JP)
Application Number:
PCT/JP2003/013870
Publication Date:
May 21, 2004
Filing Date:
October 29, 2003
Export Citation:
Assignee:
SONY CORP (JP)
NAGASAKA KENICHIRO (JP)
NAGASAKA KENICHIRO (JP)
International Classes:
A63H11/18; A63H11/00; B25J5/00; B25J13/08; B62D57/032; (IPC1-7): B25J5/00
Domestic Patent References:
| WO2003057426A1 | 2003-07-17 | |||
| WO2003057426A1 | 2003-07-17 |
Other References:
See also references of EP 1559519A4
Attorney, Agent or Firm:
Yamada, Eiji (Miyata & Yamada Patent Office Ginza TK
Bldg., 1-7, Shintomi 1-chom, Chuo-ku Tokyo, JP)
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