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公开(公告)号：KR1020130054798A
公开(公告)日：2013-05-27
申请号：KR1020110120394
申请日：2011-11-17
Applicant: 재단법인대구경북과학기술원
IPC: G05D1/02
CPC classification number: B25J9/1628 , B25J9/1664 , G05D1/02 , G05D2201/0217
Abstract: PURPOSE: An apparatus for planning a travelling path of a walking robot and a method thereof are provided to improve energy efficiency during travelling by maintaining stability of the robot and minimizing a control input value. CONSTITUTION: A touch-down angle generation part(110) calculates a touch-down angle of a robot leg corresponding to a target speed by receiving the target speed for the travelling direction of the walking robot. A numerical analysis part(120) performs numerical analysis for a motion equation of a dynamic model of the walking robot on the basis of the touch-down angle of the robot leg. A leg angle generation part(130) calculates a target angle of the robot leg on the basis o the numerical analysis result of the numerical analysis part. [Reference numerals] (100) Travelling path planning apparatus; (110) Touch-down angle generation part; (120) Numerical analysis part; (130) Leg angle generation part
Abstract translation: 目的：提供一种用于规划步行机器人的行进路径的装置及其方法，以通过保持机器人的稳定性并使控制输入值最小化来提高行驶期间的能量效率。 构成：触角下降角生成部（110）通过接收行走机器人的行进方向的目标速度来计算与目标速度对应的机器人脚的接触角。 数值分析部件（120）基于机器人腿部的接触角来对步行机器人的动态模型的运动方程进行数值分析。 腿部角度产生部件（130）基于数值分析部件的数值分析结果计算机器人腿部的目标角度。 （附图标记）（100）行驶路径规划装置; （110）触角发生部; （120）数值分析部分; （130）腿角生成部
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