Determination of foot placement for humanoid push recovery
US7949430B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Nov 28, 2007 |
| Grant date | May 24, 2011 |
| Priority date | — |
| Expiry date | Jan 20, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A legged robot subjected to a force is controlled by determining an instantaneous capture point where the robot will step with a swing leg to reach a balanced home position, the balanced home position being a state in which the Center of Mass remains substantially over the Center of Pressure and the robot is able to maintain its balance indefinitely. The capture point can be determined using a Linear Inverted Pendulum Plus Flywheel (LIPPF) model of the robot. The LIPPF model includes a flywheel with a mass and a rotational inertia, and a variable length leg link. A torque profile is applied to the flywheel and a set of capture points is determined based on this torque profile An experimentally determined error value can be added to a capture point that is determined based on the model to account for differences between an actual robot and the model.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.