发明名称 |
Motion generation system of legged mobile robot |
摘要 |
A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
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申请公布号 |
EP2251156(A1) |
申请公布日期 |
2010.11.17 |
申请号 |
EP20100008080 |
申请日期 |
2002.04.25 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
发明人 |
TAKENAKA, TORU;MATSUMOTO, TAKASHI;HASEGAWA, TADAAKI |
分类号 |
B25J5/00;B25J13/00;B62D57/032 |
主分类号 |
B25J5/00 |
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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