Gait producing device for leg type movable robot, and control device
First Claim
1. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:
- desired vertical component trajectory determining means for determining a desired trajectory of a vertical component of a translation floor reaction force applied to said robot, a vertical component of a total center-of-gravity acceleration of the robot or a vertical component of a body acceleration of the robot; and
desired vertical position determining means for determining a desired vertical position of the total center-of-gravity or body of said robot in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the vertical component of the body acceleration agrees with the desired trajectory set by the desired vertical component trajectory determining means.
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Abstract
A desired trajectory of a vertical component of a translation floor reaction force of a legged mobile robot 1, a vertical component of a total center-of-gravity acceleration or a body acceleration'"'"'s vertical component of the robot 1 is determined, and a desired vertical position of a total center-of-gravity or body of the robot 1 is determined in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the body acceleration'"'"'s vertical component agrees with the desired trajectory (that is, a dynamical equilibrium condition in the vertical direction is satisfied). Since the movement of the total center-of-gravity or the like in the vertical direction is determined after the desired trajectory of the vertical component of the translation floor reaction force or the like, a desired gait for the robot 1 suitable not only for walking but also for running can be generated.
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Citations
26 Claims
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1. A gait generation device for generating a desired gait for a legged mobile robot that moves by operating a plurality of legs extending from a body, comprising:
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desired vertical component trajectory determining means for determining a desired trajectory of a vertical component of a translation floor reaction force applied to said robot, a vertical component of a total center-of-gravity acceleration of the robot or a vertical component of a body acceleration of the robot; and
desired vertical position determining means for determining a desired vertical position of the total center-of-gravity or body of said robot in such a manner that the vertical component of the translation floor reaction force, the vertical component of the total center-of-gravity acceleration or the vertical component of the body acceleration agrees with the desired trajectory set by the desired vertical component trajectory determining means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification