发明名称 |
Mobile object controller and floor surface estimator |
摘要 |
A total floor reaction force required correction amount by which an error between an observed value of a total floor reaction force acting on a mobile object 101 and a desired total floor reaction force approaches zero is converted to a spring displacement amount of a position/posture of a representative contact surface representative of ground surfaces of the mobile object 101. A correction amount of a displacement amount of each joint of the mobile object 101 is determined by multiplying the spring displacement amount by a pseudo inverse matrix of a Jacobian matrix representing a relation between a change amount of the position and posture of the representative contact surface per unit time and a change amount of a generalized variable vector per unit time. The displacement amount of each joint is controlled according to a corrected desired joint displacement amount obtained by correcting a desired joint displacement amount.
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申请公布号 |
US8504208(B2) |
申请公布日期 |
2013.08.06 |
申请号 |
US201213479894 |
申请日期 |
2012.05.24 |
申请人 |
ORITA ATSUO;HONDA MOTOR CO., LTD. |
发明人 |
ORITA ATSUO |
分类号 |
G05B15/02 |
主分类号 |
G05B15/02 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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