GAIT PRODUCTION DEVICE AND CONTROL DEVICE FOR LEG TYPE MOVABLE ROBOT

Title:

GAIT PRODUCTION DEVICE AND CONTROL DEVICE FOR LEG TYPE MOVABLE ROBOT

Document Type and Number:

WIPO Patent Application WO/2003/057430

Kind Code:

A1

Abstract:

When a gait is produced that alternately repeats an aerial period in which all leg bodies (2) of a leg type movable robot (1) floats in the air and a landing period in which either of the leg bodies (2) touches the ground, a target (ZMP) is set for any of the aerial and landing periods, and a target gait is produced such that the horizontal component of the moment around the target (ZMP) of the resultant force of inertial force and gravity produced by the movement of the target gait is approximately zero. The target (ZMP) is substantially continuously set in all period of the gait. Further, as a dynamic model for finding the target gait, use is made of an approximate model such that the moment around a certain point of action of the resultant force of inertial force and gravity calculated thereby depends on the position of the point of action.

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Inventors:

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

Application Number:

PCT/JP2002/013597

Publication Date:

July 17, 2003

Filing Date:

December 26, 2002

Export Citation:

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Assignee:

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

International Classes:

B62D57/02; B62D57/032; (IPC1-7): B25J13/00; B25J5/00

Foreign References:

JP2001138273A	2001-05-22
US5455497A	1995-10-03
JPH10277969A	1998-10-20
JPH1086081A	1998-04-07
JPH04201190A	1992-07-22
JPH1086081A	1998-04-07
JPH10277969A	1998-10-20
JP2000352011A	2000-12-19
US5357433A	1994-10-18

Other References: