发明名称 |
GAIT PRODUCING DEVICE FOR LEG TYPE MOVABLE ROBOT, AND CONTROL DEVICE |
摘要 |
A desired trajectory of a vertical component of a translation floor reaction force of a legged mobile robot 1, a vertical component of a total center-of-gravity acceleration or a body acceleration's vertical component of the robot 1 is determined, and a desired vertical position of a total center-of-gravity or body of the robot 1 is determined in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the body acceleration's vertical component agrees with the desired trajectory (that is, a dynamical equilibrium condition in the vertical direction is satisfied). Since the movement of the total center-of-gravity or the like in the vertical direction is determined after the desired trajectory of the vertical component of the translation floor reaction force or the like, a desired gait for the robot 1 suitable not only for walking but also for running can be generated. <IMAGE>
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申请公布号 |
EP1466705(A1) |
申请公布日期 |
2004.10.13 |
申请号 |
EP20020806079 |
申请日期 |
2002.12.26 |
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):B25J5/00 |
主分类号 |
B62D57/02 |
代理机构 |
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主权项 |
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