发明名称 |
Method for generating a motion of a human type link system |
摘要 |
This invention relates to a method for generating a motion of a human type link system, such as in a humanoid robot. In this invention, a dynamically feasible motion of the link system is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible from by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by a calculating from dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acted on the link system and the acceleration of the link system caused by the said acceleration |
申请公布号 |
EP1334901(B1) |
申请公布日期 |
2008.01.02 |
申请号 |
EP20030250852 |
申请日期 |
2003.02.12 |
申请人 |
THE UNIVERSITY OF TOKYO |
发明人 |
NAKAMURA, YOSHIHIKO;YAMANE, KATSU;TANGE, MANABU |
分类号 |
B25J9/22;B25J5/00;B25J9/16;B25J13/00;B62D57/032;G06T13/40 |
主分类号 |
B25J9/22 |
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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