Gait generator for mobile robot

Details Gait generator for mobile robot Gait generator for mobile robot

2011-01-18

2011-01-18

Black, Thomas G (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S245000, C700S260000, C318S568200, C318S568230, C318S568170, C901S001000

Reexamination Certificate

active

07873436

ABSTRACT:
When the placement of the elements (mass points, links having inertia, etc.) of a model expressing a robot1is determined according to a first geometric restrictive condition from an instantaneous desired motion of the robot1that has been created using a dynamic model, this placement is defined as a first placement, and the placement determined according to a second geometric restrictive condition from a corrected instantaneous desired motion that has been obtained by correcting the instantaneous desired motion is defined as a second placement. The corrected instantaneous desired motion is determined such that the moment component calculated from the difference between the first and the second placements approximates a predetermined value. The instantaneous desired motion is created using a dynamic model of the robot. Thus, the motion of the instantaneous desired gait of the robot that has been created using the dynamic model is properly corrected without using a dynamic model, leading to higher dynamic accuracy of an instantaneous desired gait including the corrected motion.

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