发明名称 |
CONTROL DEVICE FOR MOBILE BODY |
摘要 |
<p>Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions 10 of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.</p> |
申请公布号 |
EP1695799(B1) |
申请公布日期 |
2011.10.12 |
申请号 |
EP20040819493 |
申请日期 |
2004.11.29 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
TAKENAKA, TORU;MATSUMOTO, TAKASHI;YOSHIIKE, TAKAHIDE |
分类号 |
B25J13/00;B25J5/00;B62D57/032 |
主分类号 |
B25J13/00 |
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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