发明名称 |
DEVICE AND METHOD FOR CONTROLLING OPERATION OF LEGGED ROBOT, AND ROBOT DEVICE |
摘要 |
A method for controlling the operation of a legged robot capable of accurately operating the robot while canceling the effect of rolling-, pitching-, and yawing-axis moments applied to a body during a leg operation such as walking, comprising the steps of calculating a pitching-axis and/or a rolling- axis moment produced on the body of the robot on a set ZMP produced by the set motions of an upper limb, body part, and a lower limb to obtain the motions of the lower limb and body part canceling the pitching-axis and/or rolling-axis moment, and calculating the yawing-axis moment produced on the body on the set ZMP produced by the calculated motions of the lower limb and body part to obtain the motion of the upper limb canceling the yawing-axis moment.
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申请公布号 |
WO0245913(A1) |
申请公布日期 |
2002.06.13 |
申请号 |
WO2001JP10012 |
申请日期 |
2001.11.16 |
申请人 |
SONY CORPORATION;YAMAGUCHI, JINICHI;KUROKI, YOSHIHIRO;ISHIDA, TATSUZO |
发明人 |
YAMAGUCHI, JINICHI;KUROKI, YOSHIHIRO;ISHIDA, TATSUZO |
分类号 |
B25J9/18;B62D57/032;G06N3/00;(IPC1-7):B25J5/00 |
主分类号 |
B25J9/18 |
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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