发明名称 |
Gate generating system for mobile robot |
摘要 |
A gait generating system for a mobile robot has n dynamic models and determines a first gait parameter defining a desired gait such that the boundary condition of a gait on a first dynamic model is satisfied. The first gait parameter is corrected step by step by using an m-th dynamic model (m: integer satisfying 2<=m<=n), which is each dynamic model other than the first dynamic model, and an m-th gait parameter that satisfies the boundary condition on the m-th dynamic model is determined. The m-th gait parameter is determined by correcting an object of an (m-1)th gait parameter to be corrected on the basis of the degree of deviation of the gait generated on the m-th dynamic model by using the (m-1)th gait parameter from the boundary condition. A final determined n-th gait parameter and an n-th dynamic model are used to generate a desired gait.
|
申请公布号 |
US7319302(B2) |
申请公布日期 |
2008.01.15 |
申请号 |
US20050597732 |
申请日期 |
2005.02.16 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
TAKENAKA TORU;MATSUMOTO TAKASHI;YOSHIIKE TAKAHIDE |
分类号 |
B25J9/08;B25J5/00;B25J13/00;B62D57/032 |
主分类号 |
B25J9/08 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|