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Gait Pattern Generating Device and Controller of Legged Mobile Robot

  • US 20080208391A1
  • Filed: 07/28/2005
  • Published: 08/28/2008
  • Est. Priority Date: 08/02/2004
  • Status: Active Grant
First Claim
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1. A gait generating system of a legged mobile robot equipped with a plurality of legs extended from a body, the system comprising:

  • an external force trajectory provisionally determining means for provisionally determining a desired trajectory of an external force to be applied to the robot other than a floor reaction force;

    a current time gait parameter provisionally determining means for provisionally determining a current time gait parameter that includes at least parameters that define a motion trajectory of a leg and trajectories of a floor reaction force and an external force to be applied to the robot in a current time gait, which is a desired gait of the robot for a predetermined period to be newly created, on the basis of at least a requirement related to a motion of the leg of the robot and the desired trajectory of the external force that has been provisionally determined;

    a cyclic gait parameter determining means for determining a cyclic gait parameter that includes at least parameters that define a motion trajectory of a leg and trajectories of a floor reaction force and an external force to be applied to the robot in a virtual cyclic gait following the current time gait on the basis of at least the requirement and the desired trajectory of the external force that has been provisionally determined;

    a parameter correcting means for determining a current time gait parameter by correcting at least one parameter of the provisionally determined current time gait parameter so as to satisfy a condition that a motion trajectory of the body of the robot determined on the basis of a robot dynamic model and the current time gait parameter converges to a motion trajectory of the body of the robot determined on the basis of the dynamic model and the cyclic gait parameter, wherein the robot dynamic model represents a relationship between a floor reaction force and an external force acting on the robot and a motion of the robot; and

    a current time gait instantaneous value determining means for sequentially determining an instantaneous value of the current time gait on the basis of at least the corrected current time gait parameter.

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