Legged mobile robot and its motion teaching method, and storage medium
US7024276B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Apr 2, 2002 |
| Grant date | Apr 4, 2006 |
| Priority date | — |
| Expiry date | Oct 2, 2022 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/008
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Learning-type motion control is performed using a hierarchical recurrent neural network. A motion pattern provided through human teaching work is automatically time-serially segmented with the hierarchical recurrent neural network, and the motion control of a machine body is carried out with a combination of the segmented data, whereby various motion patterns can be produced. With the time-serial segmentation, local time-serial patterns and an overall pattern as a combination of the local time-serial patterns are produced. For those motion patterns, indices for static stability and dynamic stability of the machine body, e.g., ZMP stability criteria, are satisfied and hence control stability is ensured.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.