发明名称 |
Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot |
摘要 |
Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
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申请公布号 |
US8447429(B2) |
申请公布日期 |
2013.05.21 |
申请号 |
US20100809004 |
申请日期 |
2010.07.30 |
申请人 |
CHANG YOUNG-HWAN;OH YONG HWAN;KIM DOIK;CHOI YOUNGJIN;YOU BUM-JAE;KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY |
发明人 |
CHANG YOUNG-HWAN;OH YONG HWAN;KIM DOIK;CHOI YOUNGJIN;YOU BUM-JAE |
分类号 |
G05B19/04;G05B15/00;G05B19/00;G05B19/18 |
主分类号 |
G05B19/04 |
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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