GAIT GENERATION DEVICE FOR LEGGED MOBILE ROBOT

Title:

GAIT GENERATION DEVICE FOR LEGGED MOBILE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/057427

Kind Code:

A1

Abstract:

A gait generation device comprises means for setting the a limited variable such as the translation floor reaction force horizontal component (associated with friction force) acting on a robot (1) or ZMP, and the allowable range of the limited variable, means for determining at least a temporary instantaneous value of the desired floor reaction force of the robot (1) and a temporary instantaneous value of a desired motion, and means for receiving at least the temporary instantaneous value of the desired motion and determining the temporary instantaneous value of the desired motion used to determine the model floor reaction force instantaneous value by using a kinetic model. The temporary instantaneous value of the desired motion is corrected on the basis of the difference between the model floor reaction force instantaneous value and the desired floor reaction force temporary instantaneous value and the allowable range of the limited variable so that the limited variable may lie within the allowable range and the kinetic balance condition on the kinetic model may be satisfied, thus finally determining the desired instantaneous value.

Inventors:

TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

Application Number:

PCT/JP2002/013784

Publication Date:

July 17, 2003

Filing Date:

December 27, 2002

Export Citation:

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Assignee:

HONDA MOTOR CO LTD (JP)
TAKENAKA TORU (JP)
MATSUMOTO TAKASHI (JP)
YOSHIIKE TAKAHIDE (JP)

International Classes:

B62D57/032; (IPC1-7): B25J5/00; B25J13/00

Domestic Patent References:

WO2002040224A1

2002-05-23

Foreign References:

EP0572285A1	1993-12-01
EP0856457A2	1998-08-05
EP1018467A1	2000-07-12
JP2002326173A	2002-11-12

Other References: