Gait generation device for legged mobile robot

Details Gait generation device for legged mobile robot Gait generation device for legged mobile robot

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.

REFERENCES:
patent: 5594644 (1997-01-01), Hasegawa et al.
patent: 6969965 (2005-11-01), Takenaka et al.
patent: 2005/0110448 (2005-05-01), Takenaka et al.
patent: 2005/0126833 (2005-06-01), Takenaka et al.
patent: 2005/0228539 (2005-10-01), Takenaka et al.
patent: 2005/0240306 (2005-10-01), Takenaka et al.
patent: 2006/0184276 (2006-08-01), Takenaka et al.
patent: 02-048283 (1990-02-01), None
patent: 04-201190 (1992-07-01), None
patent: 05-305584 (1993-11-01), None
patent: 05-324115 (1993-12-01), None
patent: 10-086080 (1998-04-01), None
patent: 10-086081 (1998-04-01), None
patent: 10-277969 (1998-10-01), None
patent: 2001-138273 (2001-05-01), None
Zhang et al., A new method of desired gait synthesis in biped robot, 2000, IEEE, pp. 1300-1304.

Affiliated with

Also associated with

Rating

Gait generation device for legged mobile robot does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Gait generation device for legged mobile robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Gait generation device for legged mobile robot will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-3962944