Gait generator of legged mobile robot

Details Gait generator of legged mobile robot Gait generator of legged mobile robot

2005-07-28

2010-06-08

Tran, Khoi (Department: 3664)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C901S001000, C901S047000

Reexamination Certificate

active

07734377

ABSTRACT:
A gait generator determines a desired motional trajectory and a desired object reaction force trajectory of an object120for a predetermined period after the current time by using an object dynamic model while supplying, to the object dynamic model, a model manipulated variable (estimated disturbance force) for bringing a behavior of the object120on the object dynamic model close to an actual behavior, and provisionally generates a gait of a robot1for a predetermined period by using the aforesaid determined trajectories. Based on the gait and an object desired motion trajectory, a geometric restrictive condition, such as interference between the robot1and the object120, is checked, and a moving plan for the object120or a gait parameter (predicted landing position/posture or the like) of the robot1is corrected as appropriate according to a result of the check, so as to generate a gait of the robot1. Thus, a desired gait that satisfies a predetermined geometric restrictive condition related to the interference between the robot1and an object is generated by reflecting an actual environmental condition in real time while carrying out the operational control of the robot1.

REFERENCES:
patent: 6289265 (2001-09-01), Takenaka et al.
patent: 6564888 (2003-05-01), Gomi et al.
patent: 6832132 (2004-12-01), Ishida et al.
patent: 2002/0022907 (2002-02-01), Takenaka et al.
patent: 2004/0044440 (2004-03-01), Takenaka
patent: 1 798 004 (2007-06-01), None
patent: 05-324115 (1993-12-01), None
patent: 10-086080 (1998-04-01), None
patent: 10-230485 (1998-09-01), None
patent: 2002-326173 (2002-11-01), None
patent: 2004-209614 (2004-07-01), None
patent: 2005-115654 (2005-04-01), None
patent: 02/40224 (2002-05-01), None
patent: 03/057427 (2003-07-01), None
“The Virtual Robot Platform”, Scholarly Journal of the Robotics Society of Japan, vol. 19, No. 1, pp. 28-36, Jan. 2001, English abstract included.
“Pushing Manipulation by a Humanoid Robot”, K. Harada et al., pp. 115-116, Nov. 26, 2002, English abstract included.
“Motion Generation of Humanoids based on Object Trajectory Description”, Kei Okada et al., University of Tokyo, English abstract included.

Affiliated with

Also associated with

Rating

Gait generator of 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 generator of legged mobile robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Gait generator of legged mobile robot will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-4249029