Driving method, drive control apparatus, and robot
US7908032B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | May 1, 2007 |
| Grant date | Mar 15, 2011 |
| Priority date | — |
| Expiry date | Dec 6, 2029 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/008
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.