Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2007-12-11
2007-12-11
Black, Thomas (Department: 3661)
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, C901S001000, C901S009000, C901S046000
Reexamination Certificate
active
10499517
ABSTRACT:
When generating a gait for a legged mobile robot1which has floating periods in which all the legs2of the robot float in the air and landing periods in which any of the legs2is in contact with the floor appearing alternately, a desired ZMP is set at any point in time in the floating periods and the landing periods, and a desired gait is generated in such a manner that the horizontal component of the moment produced about the desired ZMP by the resultant force of gravity and an inertial force caused by a movement of the robot with the desired gait is 0. The desired ZMP is set to be substantially continuous for all the periods in the gait. Furthermore, as a dynamics model for determining the desired gait, an approximate model is used which is arranged so that the moment, about a certain point of application, of the resultant force of the inertial force and gravity calculated using the model depends on the position of the point of application.
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Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Black Thomas
Honda Giken Kogyo Kabushiki Kaisha
McDieunel Marc
Rankin, Hill Porter & Clark LLP
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