To provide a method, an action production method and an attitude control method at a real time capable of being applied even when finger tips make contact with the environment in addition to walking on a flat surface and internal force is acted between contact points and determining transition in the any contact state that the contact is left and slip is generated at the contact points in a leg type movement robot.
In the leg type movement robot, three-dimensional force and three-dimensional moment received from the environment by the robot are calculated. Further, projection cone formed in a force-moment space according to the given action of the robot is calculated. Further, it is determined whether or not the calculated three-dimensional force and the three-dimensional moment are included at the inside of the projection cone. Thereby, a determination method applicable to the transition in the any contact state is led. Further, the action of the leg type movement robot taking into consideration to the transition in the contact state is produced based on the method. Further, attitude control at the real time is realized.
HARADA KENSUKE
KAJITA HIDEJI
KANEKO KENJI
KANEHIRO FUMIO
FUJIWARA SEIJI
MORISAWA MITSUHARU
SAITO HAJIME
HATTORI SHIZUKO
| JPH07205070A | 1995-08-08 | |||
| JP2004188532A | 2004-07-08 | |||
| JP2005007491A | 2005-01-13 |
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