Gait generation device for legged mobile robot

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

2004-06-28

2010-06-08

Black, Thomas G (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S260000, C318S568120, C318S568220, C901S001000

Reexamination Certificate

active

07734378

ABSTRACT:
A vertical component or the like of a floor reaction force moment to be applied to a robot1is defined as a restriction object amount, and the permissible range of the restriction object amount is set. A provisional motion of the robot that satisfies a predetermined dynamic balance condition is determined on a predetermined dynamic model, and if a restriction object amount determined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the angular momentum changing rate of the robot from the provisional motion while limiting the restriction object amount to the permissible range on the dynamic model.

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