Motion control for a legged robot

Details Motion control for a legged robot Motion control for a legged robot

2005-11-01

2005-11-01

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S246000, C700S251000, C700S253000, C700S260000, C700S261000, C318S568100, C318S568120, C318S568160, C318S568170, C318S568190, C318S568200, C180S008100, C180S008600, C901S001000, C901S009000, C901S046000

Reexamination Certificate

active

06961640

ABSTRACT:
A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands.

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