Control device for mobile body

Details Control device for mobile body Control device for mobile body

2004-10-29

2009-10-13

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568200, C180S008100, C180S008600, C180S065100, C901S001000, C901S009000, C901S046000, C701S023000, C320S116000, C320S120000

Reexamination Certificate

active

07603199

ABSTRACT:
Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body1are operated so that a desired relative height obtained by combining the correction amounts is satisfied.

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