发明名称 |
GAIT GENERATOR OF MOBILE ROBOT |
摘要 |
The placement of the elements (mass points or rigid bodies having inertia) of a model expressing a robot 1 determined according to a first geometric restrictive condition from an instantaneous desired motion of the robot 1 is defined as a first placement, and provisional corrected instantaneous desired motions corresponding to a second placement and a third placement having predetermined relationships with the first placement are determined. The position/posture of a predetermined part 3 (body) of the robot 1 are determined by weighted averages of the position/posture of the aforesaid provisional corrected instantaneous desired motions. Thus, the motion of an instantaneous desired gait created using a dynamic model is properly corrected thereby achieving both improved dynamic accuracy between the motion and a floor reaction force of the instantaneous desired gait and a minimized change in the posture of a predetermined part, such as the body, of the robot without using a dynamic model.
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申请公布号 |
EP1721711(A1) |
申请公布日期 |
2006.11.15 |
申请号 |
EP20050709758 |
申请日期 |
2005.02.04 |
申请人 |
HONDA MOTOR CO., LTD. |
发明人 |
TAKENAKA, TORU;MATSUMOTO, TAKASHI;YOSHIIKE, TAKAHIDE |
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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