发明名称 |
Gait creation device of leg-type mobile robot |
摘要 |
A provisional desired motion trajectory of an object is determined based on a moving plan of the object. Then, it is determined whether a robot leg motion can satisfy a necessary requirement. The requirement is related to a position/posture relationship between the object and the robot, and a determination of whether the requirement can be satisfied is made at a future, predetermined step. A restrictive condition related to robot leg motion is satisfied at each step up to the predetermined number of steps. If the requirement is satisfied, then a desired gait is generated on the basis of the provisional desired motion trajectory. Otherwise, a desired gait is generated on the basis of a desired motion trajectory of the object according to a corrected moving plan. |
申请公布号 |
US8204625(B2) |
申请公布日期 |
2012.06.19 |
申请号 |
US20060096987 |
申请日期 |
2006.10.31 |
申请人 |
HASEGAWA TADAAKI;OHNO NOBUYUKI;HONDA MOTOR CO., LTD. |
发明人 |
HASEGAWA TADAAKI;OHNO NOBUYUKI |
分类号 |
G05B19/04;A63H11/18;B25J5/00;B25J13/00 |
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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