发明名称 |
Device and method for controlling motion of legged mobile robot, and motion unit generating method for legged mobile robot |
摘要 |
A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands.
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申请公布号 |
US2003139849(A1) |
申请公布日期 |
2003.07.24 |
申请号 |
US20020181307 |
申请日期 |
2002.11.25 |
申请人 |
KUROKI YOSHIHIRO;ISHIDA TATSUZO;YAMAGUCHI JINICHI |
发明人 |
KUROKI YOSHIHIRO;ISHIDA TATSUZO;YAMAGUCHI JINICHI |
分类号 |
B25J9/22;B62D57/02;B62D57/032;(IPC1-7):G06F19/00 |
主分类号 |
B25J9/22 |
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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