Gait generating device of legged mobile robot

Details Gait generating device of legged mobile robot Gait generating device of legged mobile robot

2005-09-28

2010-11-23

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S252000, C901S001000, C901S047000

Reexamination Certificate

active

07840309

ABSTRACT:
When a new desired gait of a robot is generated, it is determined, on the assumption that the trajectory of an acting force between the robot and an object at a predetermined time point in the future changes to a trajectory different from a desired trajectory, whether a predetermined dynamical restrictive condition can be satisfied when a desired gait after the predetermined time point is generated. If the condition cannot be satisfied, then a moving schedule for the object is corrected, the desired trajectory or the like of the acting force between the robot and the object is re-determined, and a new desired gait is generated using the re-determined desired trajectory. With this arrangement, the gait of the robot to cause the robot to perform an operation for moving the object is generated such that the stability of the posture of the robot can be secured even if an acting force between the robot and the object in the future deviates from a desired value.

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