| US 7,487,011 B2 | ||
| Gait generation device for legged mobile robot | ||
| Toru Takenaka, Wako (Japan); Takashi Matsumoto, Wako (Japan); and Takahide Yoshiike, Wako (Japan) | ||
| Assigned to Honda Giken Kogyo Kabushiki Kaisha, Tokyo (Japan) | ||
| Appl. No. 10/499,936 PCT Filed Dec. 26, 2002, PCT No. PCT/JP02/13592 § 371(c)(1), (2), (4) Date Jun. 23, 2004, PCT Pub. No. WO03/057423, PCT Pub. Date Jul. 17, 2003. |
||
| Claims priority of application No. 2001-399496 (JP), filed on Dec. 28, 2001. | ||
| Prior Publication US 2005/0240306 A1, Oct. 27, 2005 | ||
| This patent is subject to a terminal disclaimer. | ||
| Int. Cl. G05B 19/04 (2006.01); G05B 19/18 (2006.01); G06F 19/00 (2006.01) | ||
| U.S. Cl. 700—253 [700/245; 700/254; 318/568.12] | 19 Claims |
| 1. A gait generation and control device for generating a desired gait for a legged mobile robot that moves by operating a
plurality of legs extending from a body, comprising:
an allowable range setting portion of a first calculation unit within a control unit, for setting an allowable range of a
horizontal component of a translation floor reaction force or a floor-surface-parallel component of the translation floor
reaction force applied to said robot or a horizontal component of a total center-of-gravity acceleration of the robot or a
floor-surface-parallel component of the total center-of-gravity acceleration of the robot;
a provisional movement determining portion of the first calculation unit within the control unit, for determining a provisional
movement as a provisional desired movement of said desired gait in such a manner that a resultant force of gravity and an
inertial force acting on said robot satisfies a predetermined dynamical equilibrium condition;
a provisional movement correcting portion of the first calculation unit within the control unit for, when the horizontal component
of the translation floor reaction force or the floor-surface-parallel component of the translation floor reaction force applied
to the robot or the horizontal component of the total center-of-gravity acceleration of the robot or the floor-surface-parallel
component of the total center-of-gravity acceleration determined by the provisional movement of said desired gait has departed
from said allowable range, correcting the provisional movement by changing a rate of change of an angular momentum around
the center of gravity of the robot from said provisional movement in such a manner that said dynamical equilibrium condition
is satisfied while limiting the horizontal component of the translation floor reaction force or the floor-surface-parallel
component of the translation floor reaction force or the horizontal component of the total center-of-gravity acceleration
or the floor-surface-parallel component of the total center-of-gravity acceleration within said allowable range, thereby determining
the movement of the desired gait; and
a gait control means portion of a second calculation unit of the control unit for calculating an operating amount for each
leg of the body to implement the generated desired gait.
|