Motion unit generating method for legged mobile robot

Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control

Reexamination Certificate

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Details

C700S247000, C700S249000, C700S250000, C700S252000, C700S253000, C700S258000, C700S260000, C318S568100, C318S568110, C318S568120, C318S568150, C318S568160, C318S568170, C318S568200, C901S001000, C901S009000, C901S033000, C901S047000, C901S048000, C180S008100, C180S008600

Reexamination Certificate

active

07076338

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 natterns of a robot including walking are classified into motion units, each motion unit servins 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 chanaed in real-time by commands.

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