Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2008-01-15
2008-01-15
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
07319918
ABSTRACT:
A gait generation device for setting a translation floor reaction force's horizontal component (component concerning a friction force) applied to a robot1, a limitation-target quantity, such as a ZMP, and an allowable range, for determining at least a provisional instantaneous value of a desired floor reaction force and a provisional instantaneous value for a desired movement of the robot1, that receives at least the provisional instantaneous value for the desired movement and determines a model floor reaction force instantaneous value with the aid of a dynamics model. Based on the difference between the model floor reaction force instantaneous value and the provisional instantaneous value of the desired floor reaction force or the allowable range of the limitation-target quantity, the provisional instantaneous value for the desired movement is corrected so that the limitation-target quantity falls within the allowable range and a dynamical equilibrium condition on the dynamics model is satisfied, thereby determining a desired instantaneous value.
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WO 02/40224 A1, Gait Pattern Generating Device for Legged Mobile Robot, Publication Date: May 23, 2002.
Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Black Thomas
Honda Giken Kogyo Kabushiki Kaisha
Marc McDieunel
Rankin, Hill Porter & Clark LLP
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