Device for generating motion of legged mobile robot
US7120518B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 25, 2002 |
| Grant date | Oct 10, 2006 |
| Priority date | — |
| Expiry date | Oct 29, 2022 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.