Method and system for generating trajectory of robot and the lik

Details Method and system for generating trajectory of robot and the lik Method and system for generating trajectory of robot and the lik

1993-05-20

1997-01-14

Teska, Kevin J.

Boots, shoes, and leggings

395 81, 395 95, 395 96, 395 86, 3185681, 31856812, 318561, 901 1, 901 2, 901 46, 901 47, G06F 770, G05B 1904

Patent

active

055946445

ABSTRACT:
A trajectory generation for a member such as a foot of a legged mobile robot. First, basic trajectories defining some typical motions of the foot including a constraint condition are established on a virtual plane or surface fixed on a coordinate system. The virtual plane is kept fixed on the ground until a time the foot is to be lifted. Then at this period free from the constraint condition, the coordinate system is displaced such that the virtual surface coincides with another point of the ground on which the foot is to be landed. A trajectory for a footrise to footfall is thus generated by combining the basic trajectories in the coordinate system and the amount of displacement of the coordinate system. Thus, the boundary conditions become extremely simple and hence, trajectory generation is greatly simplified. A real time trajectory correction can be conducted if desired.

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