Device for generating motion of legged mobile robot

Details Device for generating motion of legged mobile robot Device for generating motion of legged mobile robot

2006-10-10

2006-10-10

Black, Thomas G. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S247000, C700S249000, C700S250000, C700S252000, C700S253000, C700S258000, C318S568100, C318S568110, C318S568150, C318S568160, C318S568170, C901S001000, C901S033000, C901S047000, C901S048000

Reexamination Certificate

active

07120518

ABSTRACT:
A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model)100c2that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.

REFERENCES:
patent: 5459659 (1995-10-01), Takenaka
patent: 6289265 (2001-09-01), Takenaka et al.
patent: 856457 (1998-02-01), None
patent: 1120203 (1999-04-01), None
patent: 05-337849 (1993-12-01), None
patent: 11-300660 (1999-11-01), None

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