发明名称 |
CONTROL DEVICE OF LEGGED MOBILE ROBOT |
摘要 |
<p>A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait. <IMAGE></p> |
申请公布号 |
EP1502711(A1) |
申请公布日期 |
2005.02.02 |
申请号 |
EP20030725697 |
申请日期 |
2003.04.28 |
申请人 |
HONDA GIKEN KOGYO KABUSHIKI KAISHA |
发明人 |
TAKENAKA, TORU;MATSUMOTO, TAKASHI;YOSHIIKE, TAKAHIDE;AKIMOTO, KAZUSHI |
分类号 |
B62D57/032;(IPC1-7):B25J5/00 |
主分类号 |
B62D57/032 |
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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