Invention Grant
US09120512B2 Control device and gait generating device for bipedal mobile robot
有权
双足移动机器人的控制装置和步态生成装置
- Patent Title: Control device and gait generating device for bipedal mobile robot
- Patent Title (中): 双足移动机器人的控制装置和步态生成装置
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Application No.: US13086872Application Date: 2011-04-14
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Publication No.: US09120512B2Publication Date: 2015-09-01
- Inventor: Shinya Shirokura , Hiroyuki Kaneko , Chiaki Tanaka , Masakazu Kawai
- Applicant: Shinya Shirokura , Hiroyuki Kaneko , Chiaki Tanaka , Masakazu Kawai
- Applicant Address: JP Tokyo
- Assignee: HONDA MOTOR CO., LTD.
- Current Assignee: HONDA MOTOR CO., LTD.
- Current Assignee Address: JP Tokyo
- Agency: Rankin, Hill & Clark LLP
- Priority: JP2010-099089 20100422; JP2010-099090 20100422
- Main IPC: B62D57/032
- IPC: B62D57/032 ; B25J19/00
Abstract:
A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture.
Public/Granted literature
- US20110264264A1 CONTROL DEVICE AND GAIT GENERATING DEVICE FOR BIPEDAL MOBILE ROBOT Public/Granted day:2011-10-27
Information query
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