发明名称 |
DESIRED ZMP TRAJECTORY GENERATING DEVICE FOR A MOBILE ROBOT |
摘要 |
A device for generating a desired ZMP trajectory for a mobile robot includes a polynomial function coefficient group determining section (53a) which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function, a desired coefficient group composed of desired values of coefficients in respective terms of the polynomial function. The polynomial function coefficient group determining section uses a quadratic evaluation function including square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, by a solution method for a quadratic programming problem, in such a way as to minimize a value of the evaluation function while fulfilling the constraint conditions. |
申请公布号 |
US2017036346(A1) |
申请公布日期 |
2017.02.09 |
申请号 |
US201615206413 |
申请日期 |
2016.07.11 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
Kamioka Takumi |
分类号 |
B25J9/16;B62D57/032 |
主分类号 |
B25J9/16 |
代理机构 |
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代理人 |
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主权项 |
1. A desired ZMP trajectory generating device for a mobile robot which generates a desired ZMP trajectory as a trajectory of a desired position of a zero moment point (ZMP) of the mobile robot, the device comprising:
a polynomial function coefficient group determining section which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function of degree 2 or higher with time as a variable, a desired coefficient group comprising desired values of coefficients in respective terms of the polynomial function, wherein the polynomial function coefficient group determining section is configured to use a quadratic evaluation function configured to include square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, so as to minimize a value of the evaluation function while fulfilling the constraint conditions by a solution method for a quadratic programming problem, and the constraint conditions are configured to include a linear inequality which expresses a first constraint condition that a desired position of the ZMP at one or more sampling time in the desired ZMP trajectory exists within a predetermined polygonal region set in accordance with a desired position and desired posture of a floor-contacting site of the mobile robot at the sampling time. |
地址 |
Tokyo JP |