| 发明名称 | Biped walking robot control method and biped walking robot control system | ||
| 摘要 | A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP. | ||
| 申请公布号 | US9434430(B2) | 申请公布日期 | 2016.09.06 |
| 申请号 | US201514597607 | 申请日期 | 2015.01.15 |
| 申请人 | TOYOTA JIDOSHA KABUSHIKI KAISHA | 发明人 | Moridaira Tomohisa |
| 分类号 | G05B15/00;G05B19/00;B62D57/032 | 主分类号 | G05B15/00 |
| 代理机构 | Oliff PLC | 代理人 | Oliff PLC |
| 主权项 | 1. A biped walking robot control method for master-slave control of walking of a biped walking robot, comprising: a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator; a target ZMP calculation step of calculating a target ZMP based on the detected right leg weight and left leg weight, and a right leg position and a left leg position of the biped walking robot so that a ratio of the detected right leg weight and left leg weight becomes equal to a ratio of the right leg weight and left leg weight of the biped walking robot; and a control step of controlling the biped walking robot in accordance with the calculated target ZMP. | ||
| 地址 | Toyota JP | ||