Motion controller and motion control method for legged...

Details Motion controller and motion control method for legged... Motion controller and motion control method for legged...

2006-04-18

2006-04-18

Black, Thomas G. (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S248000, C700S258000, C700S259000, C700S260000, C700S264000, C901S001000, C901S047000, C318S568100

Reexamination Certificate

active

07031806

ABSTRACT:
A robot operates accurately while canceling an affect of pitch-axis, rollaxis, and yaw-axis moments, these moments being applied on the robot body during a leg-moving operation such as walking. By calculating a pitch-axis moment and/or a roll-axis moment generated on the robot body at a preset ZMP by set motions of upper limbs, a trunk, and lower limbs, motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment: are obtained. Then, by calculating a yaw-axis moment generated on the robot body lying at the preset ZMP by the calculated motions of the lower limbs and the trunk, a motion of the upper limbs for canceling the yaw-axis moment is obtained.

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