Apparatus and method for balancing and damping control in whole body coordination framework for biped humanoid robot
US8447429B2 · kind B2 · utility
3Cited by
11References
4Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Dec 21, 2007 |
| Grant date | May 21, 2013 |
| Priority date | — |
| Expiry date | Jun 22, 2028 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D19/02
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
Apparatus and a method for balancing and damping control in whole body coordination framework for a biped humanoid robot. The method comprises the steps of: (a) damping the structural vibration of the main body of the robot caused when the robot walks; (b) compensating for the trajectories of the zero moment position (ZMP) and the center of mass (COM) of the robot which changes in accordance with the damping of the structural vibration; and (c) compensating for the body orientation of the robot which changes in accordance with the damping of the structural vibration and the trajectory of the COM.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.