Legged robot and its control method
US8340817B2 · kind B2 · utility
3Cited by
20References
6Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Sep 12, 2008 |
| Grant date | Dec 25, 2012 |
| Priority date | — |
| Expiry date | Jun 13, 2031 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J5/00
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
There is provided a legged robot that performs motion by changing a joint angle, which includes a section of generating a center-of-gravity trajectory of the legged robot based on a trinomial equation obtained by discretizing a ZMP equation and a target ZMP, a section of calculating time-varying data of a target value of the joint angle based on the generated center-of-gravity trajectory, and a section of rotating a joint of the legged robot based on the calculated time-varying data of a target value of the joint angle, wherein the ZMP equation involves an angular momentum according to a center-of-gravity velocity.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.