Boots – shoes – and leggings
Patent
1993-05-20
1994-10-18
Black, Thomas G.
Boots, shoes, and leggings
901 1, 901 2, 31856812, 31856815, 180 86, 180 81, B62D 5702, G05B 1900
Patent
active
053574338
ABSTRACT:
A gait generation for a biped mobile robot having a body and two legs each connected to the body and having a foot at its distal end in walking a terrain including a first surface and a second surface met at a dihedral angle such that the robot feet are in simultaneous contact with the different two surfaces. The centers of ground contact pressure distribution of the first and second surfaces are determined. A virtual third surface which assumes to vary from the first surface to the second surface is established. Then a virtual ZMP (Zero Moment Point) is assumed on the virtual third surface such that the virtual ZMP is displaced along a path obtained by connecting the centers of the ground pressure distribution of the first and second surfaces. And a gait for the robot is generated such that a ZMP kinematically determined from the motion of the robot coincides with the target ZMP.
REFERENCES:
patent: 4834200 (1989-05-01), Kajita
patent: 5151859 (1992-09-01), Yoshino et al.
patent: 5159988 (1992-11-01), Gomi et al.
patent: 5206569 (1993-04-01), Ozawa
patent: 5221883 (1993-06-01), Takenaka et al.
patent: 5252901 (1993-10-01), Ozawa et al.
patent: 5255753 (1993-10-01), Nishikawa et al.
Robotics Handbook (Oct. 1990) Robotic Society of Japan.
Hasegawa Tadaaki
Takenaka Toru
Black Thomas G.
Day Julie D.
Honda Giken Kogyo Kabushiki Kaisha
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