Control device for legged mobile robot

Details Control device for legged mobile robot Control device for legged mobile robot

2009-10-21

2010-12-28

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S249000, C700S253000, C700S254000, C700S258000, C318S568120, C318S568160, C318S568220, C901S001000

Reexamination Certificate

active

07860611

ABSTRACT:
On the basis of at least a difference between a desired state amount related to a posture of a robot1about a vertical axis or a floor surface normal line axis and an actual state amount of the robot1and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot1, instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.

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