Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2002-12-26
2009-02-17
Black, Thomas G (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S250000, C700S245000, C180S008600, C318S568120
Reexamination Certificate
active
07493192
ABSTRACT:
A desired trajectory of a vertical component of a translation floor reaction force of a legged mobile robot1, a vertical component of a total center-of-gravity acceleration or a body acceleration's vertical component of the robot1is determined, and a desired vertical position of a total center-of-gravity or body of the robot1is determined in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the body acceleration's vertical component agrees with the desired trajectory (that is, a dynamical equilibrium condition in the vertical direction is satisfied). Since the movement of the total center-of-gravity or the like in the vertical direction is determined after the desired trajectory of the vertical component of the translation floor reaction force or the like, a desired gait for the robot1suitable not only for walking but also for running can be generated.
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Matsumoto Takashi
Takenaka Toru
Yoshiike Takahide
Behncke Christine M
Black Thomas G
Honda Giken Kogyo Kabushiki Kaisha
Rankin , Hill & Clark LLP
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