Gait producing device for leg type movable robot

Details Gait producing device for leg type movable robot Gait producing device for leg type movable robot

2002-12-26

2009-02-24

Tran, Khoi (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

07496428

ABSTRACT:
A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot1using a dynamics model which describes a relationship among at least a horizontal translation movement of a body24of the robot1, a posture varying movement in which the posture of a predetermined part, such as the body24, of the robot1is varied while keeping the center of gravity of the robot1substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel. The desired gait adapted for not only walking but also running or the like can be generated with a reduced amount of calculation.

REFERENCES:
patent: 5357433 (1994-10-01), Takenaka 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: 0 765 797 (1997-04-01), None
patent: 0 820 918 (1998-01-01), None
patent: 0 856 457 (1998-08-01), None
patent: 1 018 467 (2000-07-01), None
patent: 1 120 203 (2001-08-01), 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: 2002-326173 (2002-11-01), None
Zhang et al., A new method of desired gait synthesis in biped robot, 2000, IEEE, pp. 1300-1304.
WO 02/40224 A1, Gait Pattern Generating Device for Legged Mobile Robot, Publication Date: May 23, 2002.
XP-011056240, Ching-Long Shih; “Ascending and Descending Stairs for a Biped Robot”, IEEE Transactions On Systems, Man and Cybernetics, Part A: Systems and Humans, IEEE Service Center, Piscataway, NJ, US, vol. 29, No. 3, May 1, 1999. (English text).

Affiliated with

Also associated with

Rating

Gait producing device for leg type movable 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 producing device for leg type movable robot, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Gait producing device for leg type movable robot will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-4135789