LEGGED ROBOT
First Claim
1. A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff, and an aerial phase from a takeoff to a landing, comprising:
- at least one leg that has a joint;
a storage that stores a target aerial phase period;
a measuring device that measures an actual aerial phase period; and
a drive device that drives the joint based on a time difference between the target aerial phase period and the actual aerial phase period.
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Accused Products
Abstract
A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing.
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Citations
6 Claims
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1. A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff, and an aerial phase from a takeoff to a landing, comprising:
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at least one leg that has a joint; a storage that stores a target aerial phase period; a measuring device that measures an actual aerial phase period; and a drive device that drives the joint based on a time difference between the target aerial phase period and the actual aerial phase period. - View Dependent Claims (2, 3, 4, 5, 6)
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Specification