发明名称 |
Gait producing device for leg type movable robot |
摘要 |
A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel. The desired gait adapted for not only walking but also running or the like can be generated with a reduced amount of calculation.
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申请公布号 |
US2005154492(A1) |
申请公布日期 |
2005.07.14 |
申请号 |
US20040499839 |
申请日期 |
2004.06.22 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
发明人 |
TAKENAKA TORU;MATSUMOTO TAKASHI;YOSHIIKE TAKAHIDE |
分类号 |
B62D57/02;B62D57/032;(IPC1-7):G06F19/00 |
主分类号 |
B62D57/02 |
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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