Title:
MOBILE DEVICE, AND MOBILE DEVICE CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2022/153843
Kind Code:
A1
Abstract:
The present invention enables a leg-wheel mobile robot to travel even on a travel surface such as stairs, in accordance with a specified target speed, while bringing each of legs of the leg-wheel robot in contact with the ground within a movement range corresponding to each leg. A mobile device control method comprises: acquiring travel surface information for a leg-wheel robot which travels while alternately switching a ground period, in which the leg-wheel robot travels while bringing wheels at the tips of legs thereof in contact with a travel surface, and a free leg period in which the wheels at the tips of the legs are separated from the travel surface; calculating movement ranges corresponding to the legs, respectively, within which the leg-wheel robot can travel while bringing the legs in contact with the travel surface; and generating leg trajectory information for causing the leg-wheel robot to travel, in accordance with a specified target speed, while bringing the legs in contact with the ground within the movement ranges corresponding to the respective legs.
Inventors:
TAKASUGI NORIAKI (JP)
KINOSHITA MASAYA (JP)
KINOSHITA MASAYA (JP)
Application Number:
PCT/JP2021/048263
Publication Date:
July 21, 2022
Filing Date:
December 24, 2021
Export Citation:
Assignee:
SONY GROUP CORP (JP)
International Classes:
B25J5/00; B25J13/00; G05D1/02
Foreign References:
| JP2011255426A | 2011-12-22 | |||
| JP2018188013A | 2018-11-29 |
Attorney, Agent or Firm:
MIYATA, Masaaki et al. (JP)
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