Title:
脚の揺動軌道
Document Type and Number:
Japanese Patent JP7322276
Kind Code:
B2
Abstract:
A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.
Inventors:
Whitman, Eric
Application Number:
JP2022502160A
Publication Date:
August 07, 2023
Filing Date:
September 13, 2019
Export Citation:
Assignee:
Boston Dynamics, Incorporated
International Classes:
G05D1/02; B25J5/00; B62D57/032
Domestic Patent References:
| JP2013141715A | ||||
| JP2019113992A |
Attorney, Agent or Firm:
Yoshiyuki Inaba
Toshifumi Onuki
Akihiko Eguchi
Kazuhiko Naito
Toshifumi Onuki
Akihiko Eguchi
Kazuhiko Naito