Device for generating motion of legged mobile robot

Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control

Reexamination Certificate

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Details

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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