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Control device for mobile body

  • US 7,606,634 B2
  • Filed: 11/29/2004
  • Issued: 10/20/2009
  • Est. Priority Date: 11/27/2003
  • Status: Active Grant
First Claim
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1. A control device for a mobile body comprising:

  • a desired gait determining means for determining a desired gait composed of a desired motion and a desired floor reaction force of a mobile body having three or more ground contact portions connected through the intermediary of a plurality of joints such that mutual relative heights thereof can be manipulated;

    a floor reaction force detecting means for detecting or estimating an actual floor reaction force acting on each of the ground contact portions, and controls the operation of the mobile body to make a gait of the mobile body follow a desired gait,wherein the ground contact portions are classified into a tree structure such that each of the ground contact portions becomes a leaf node, and an intermediate node exists between the leaf node and a root node having all the leaf nodes as descendant nodes, and when a B-th node, which is each node in the tree structure, is the leaf node, then a floor reaction force acting on a ground contact portion that is the leaf node is defined as the node floor reaction force of the B-th node, and when the B-th node has child nodes, then the resultant force of the node floor reaction forces of all child nodes of the B-th node is defined as the node floor reaction force of the B-th node,a means for determining an actual node floor reaction force as the actual value of the node floor reaction force of each node from the detected or estimated actual floor reaction force of each ground contact portion;

    a means for determining a desired node floor reaction force as the desired value of a node floor reaction force of each node on the basis of at least a desired floor reaction force of the desired gait; and

    a node operation controlling means that determines, on C-th nodes, which is a node having a plurality of ground contact portions as descendant nodes, the correction amounts of the desired relative heights of a plurality of ground contact portions belonging to the C-th node on the basis of at least the relative relationship among the actual node floor reaction forces of each child node of the C-th node and the relative relationship among the desired node floor reaction forces of each child node of the C-th node, determines a corrected desired motion by adding at least a first correction of the desired relative heights of the plurality of ground contact portions belonging to each C-th node to a desired motion of the desired gait on the basis of a correction amount obtained by combining the determined correction amounts of all C-th nodes, and operates the joints such that the corrected desired motion that has been determined is satisfied.

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