发明名称 |
Legged mobile robot and control method thereof, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot |
摘要 |
A legged mobile robot of the present invention controls the posture of the body thereof in a stable manner using a ZMP stability determination criterion with a relatively long sampling period. The legged mobile robot has a stable ZMP region which is a supporting polygon formed of the ground contact point of a sole of a movable leg and a walking surface, and a ZMP behavior space in which a momentum of the robot body is generated so that the ZMP shifts to the approximate center of the stable ZMP region. In the ZMP behavior space, the momentum of the robot shifts in a positive direction or in a negative direction. In the negative direction, a space distortion shifts the ZMP to the periphery of the stable region, and in the positive direction, a space distortion shifts the ZMP to the center of the stable region.
|
申请公布号 |
US2003144763(A1) |
申请公布日期 |
2003.07.31 |
申请号 |
US20020181282 |
申请日期 |
2002.11.04 |
申请人 |
MORI NAOTO;HATTORI YUICHI;YAMAGUCHI JINICHI |
发明人 |
MORI NAOTO;HATTORI YUICHI;YAMAGUCHI JINICHI |
分类号 |
B62D57/032;G06F15/18;G06N3/00;(IPC1-7):G06F19/00 |
主分类号 |
B62D57/032 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|