发明名称 |
LEGGED ROBOT AND ITS CONTROL METHOD |
摘要 |
There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.
|
申请公布号 |
US2009069940(A1) |
申请公布日期 |
2009.03.12 |
申请号 |
US20080209422 |
申请日期 |
2008.09.12 |
申请人 |
TOYOTA JIDOSHA KABUSHIKI KAISHA |
发明人 |
HONDA DAISAKU;SUGA KEISUKE;TAJIMA RYOSUKE |
分类号 |
G06F19/00;B25J5/00;B25J13/00 |
主分类号 |
G06F19/00 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|