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;
a drive device that drives the joint based on a time difference between the target aerial phase period and the actual aerial phase period; and
a velocity determining device that determines a target vertical velocity of the center of gravity of the legged robot at the takeoff timing in a current jump cycle based on the time difference in a previous jump cycle,wherein the drive device drives the joint such that the determined target vertical velocity is realized, andwherein the velocity determining device calculates a velocity correction value approximately proportional to the time difference in the previous jump cycle, and determines the target vertical velocity in the current jump cycle by adding the velocity correction value to the target vertical velocity in the previous jump cycle.
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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
4 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; a drive device that drives the joint based on a time difference between the target aerial phase period and the actual aerial phase period; and a velocity determining device that determines a target vertical velocity of the center of gravity of the legged robot at the takeoff timing in a current jump cycle based on the time difference in a previous jump cycle, wherein the drive device drives the joint such that the determined target vertical velocity is realized, and wherein the velocity determining device calculates a velocity correction value approximately proportional to the time difference in the previous jump cycle, and determines the target vertical velocity in the current jump cycle by adding the velocity correction value to the target vertical velocity in the previous jump cycle. - View Dependent Claims (2, 3, 4)
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Specification