Title:
WALKING GAIT PRODUCING DEVICE FOR WALKING ROBOT
Document Type and Number:
WIPO Patent Application WO/2004/028757
Kind Code:
A1
Abstract:
A walking gait producing device capable of simply and in real time producing the walking motion of a robot having a liable-to-topple structure such as a humanoid two-leg walking robot. The drive quantity of the center of gravity at a certain instant is calculated by using a preview control technique based on the feedback of the motion status of center of gravity at that instant and the feedforward of ZMP path up to several seconds future from that point of time. Then, the robot is driven so as to attain the obtained center-of-gravity path to thereby produce a walking motion.
Inventors:
KAJITA SHUUJI (JP)
KANEHIRO FUMIO (JP)
KANEKO KENJI (JP)
FUJIWARA KIYOSHI (JP)
HARADA KENSUKE (JP)
YOKOI KAZUHITO (JP)
HIRUKAWA HIROHISA (JP)
KANEHIRO FUMIO (JP)
KANEKO KENJI (JP)
FUJIWARA KIYOSHI (JP)
HARADA KENSUKE (JP)
YOKOI KAZUHITO (JP)
HIRUKAWA HIROHISA (JP)
Application Number:
PCT/JP2003/011842
Publication Date:
April 08, 2004
Filing Date:
September 17, 2003
Export Citation:
Assignee:
NAT INST OF ADVANCED IND SCIEN (JP)
KAJITA SHUUJI (JP)
KANEHIRO FUMIO (JP)
KANEKO KENJI (JP)
FUJIWARA KIYOSHI (JP)
HARADA KENSUKE (JP)
YOKOI KAZUHITO (JP)
HIRUKAWA HIROHISA (JP)
KAJITA SHUUJI (JP)
KANEHIRO FUMIO (JP)
KANEKO KENJI (JP)
FUJIWARA KIYOSHI (JP)
HARADA KENSUKE (JP)
YOKOI KAZUHITO (JP)
HIRUKAWA HIROHISA (JP)
International Classes:
B25J5/00; B62D57/032; G05D1/02; (IPC1-7): B25J15/00
Foreign References:
| JP2002326173A | 2002-11-12 | |||
| EP1018467A1 | 2000-07-12 |
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