Title:
OPERATION GENERATING DEVICE OF LEGGED MOBILE ROBOT
Document Type and Number:
Japanese Patent JP3726032
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an operation generating device of a legged mobile robot allowing generated operations such as gait pattern to accurately meet the requirements of dynamic equilibrium condition.
SOLUTION: A model ZMP (full model ZMP) is calculated by using a dynamic model (reverse full model) 100c2 representing the relation between a robot motion and a floor reaction, the ZMP converted value of a full model compensated moment about a target ZMP is calculated (determined) based on a difference (full model ZMP error) between the calculated model ZMP and the target ZMP, and a compensated target upper body position is calculated (determined). Since an attitude is corrected by the calculated ZMP converted value and the compensated target upper body position, the generated gait pattern can accurately meet the requirements of the dynamic equilibrium at all times.
Inventors:
Toru Takenaka
Takashi Matsumoto
Tadaaki Hasegawa
Takashi Matsumoto
Tadaaki Hasegawa
Application Number:
JP2001133621A
Publication Date:
December 14, 2005
Filing Date:
April 27, 2001
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J5/00; B25J13/00; B62D57/032; (IPC1-7): B25J5/00; B25J13/00
Domestic Patent References:
| JP5337849A | ||||
| JP11300661A |
Attorney, Agent or Firm:
Yutaka Yoshida
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