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Title:
脚式移動ロボットの制御装置
Document Type and Number:
Japanese Patent JP4225968
Kind Code:
B2
Abstract:
A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.

Inventors:
竹中 透
松本 隆志
吉池 孝英
秋元 一志
Application Number:
JP2004501987A
Publication Date:
February 18, 2009
Filing Date:
April 28, 2003
Export Citation:
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Assignee:
本田技研工業株式会社
International Classes:
B25J5/00; A63H11/18; B25J13/00; B62D57/032
Domestic Patent References:
JP5337849A
JP6031658A
JP10175180A
JP2002326173A
JP10230485A
Foreign References:
WO2002022319A1
Attorney, Agent or Firm:
佐藤 辰彦
千葉 剛宏