Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2002-12-26
2008-01-15
Tran, Khoi H. (Department: 3664)
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
07319917
ABSTRACT:
A gait generation device for generating a desired gait which includes floating periods in which all the legs2, 2of a legged mobile robot1float in the air and landing periods in which at least one leg2is in contact with a floor which appear alternately generates the desired gait in such a manner that, at least when shifting from the floating period to the landing period, the velocity of an end portion22of a landing leg with respect to the floor and the acceleration thereof with respect to the floor is substantially 0 at the instant of landing. After both the velocity of the end portion of the leg with respect to the floor and the acceleration thereof with respect to the floor are determined to be substantially 0, a movement of the body of the robot with the desired gait is determined in such a manner that the horizontal component of a moment produced about the desired ZMP by the resultant force of gravity and an inertial force applied to the robot1is substantially 0. This eliminates the landing impact.
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Zhang et al., A new method of desired gait synthesis in biped robot, 2000, IEEE, pp. 1300-1304.
Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Honda Giken Kogyo Kabushiki Kaisha
Marc McDieunel
Rankin, Hill Porter & Clark LLP
Tran Khoi H.
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