Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2003-04-28
2010-02-16
Black, Thomas G (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S245000, C700S250000, C901S050000, C318S568120, C318S568200, C318S568230
Reexamination Certificate
active
07664572
ABSTRACT:
A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot1is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot1follow the desired motion and the desired floor reaction force of the desired gait.
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Akimoto Kazushi
Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Behncke Christine M
Black Thomas G
Honda Giken Kogyo Kabushiki Kaisha
Rankin , Hill & Clark LLP
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