Method of generating a walking pattern for a humanoid robot
US8126594B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 29, 2008 |
| Grant date | Feb 28, 2012 |
| Priority date | — |
| Expiry date | May 28, 2030 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.