Walking pattern generation system for biped walking robot
US8364308B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jun 18, 2009 |
| Grant date | Jan 29, 2013 |
| Priority date | — |
| Expiry date | Mar 30, 2031 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB62D57/032
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A walking pattern generation system generates a walking pattern of a biped walking robot. The walking pattern generation system includes a pole-zero controller for converting a target pattern data input to the system into a reference pattern data through a first transfer function, and a walking pattern generation unit for converting the reference pattern data into a walking pattern data through a second transfer function and outputting the converted walking pattern data, wherein the second transfer function has an unstable zero, and wherein the first transfer function includes a transfer function approximated to an inverse of the unstable zero of the second transfer function.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.