The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 27, 2008
Filed:
Jan. 26, 2005
Takashi Yamamoto, Seto, JP;
Hisayoshi Sugihara, Aichi-ken, JP;
Keisuke Suga, Toyota, JP;
Yuji Tsusaka, Nagoya, JP;
Ryosuke Tajima, Aichi-ken, JP;
Takashi Yamamoto, Seto, JP;
Hisayoshi Sugihara, Aichi-ken, JP;
Keisuke Suga, Toyota, JP;
Yuji Tsusaka, Nagoya, JP;
Ryosuke Tajima, Aichi-ken, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota-shi, Aichi-ken, JP;
Abstract
A legged robot and a legged robot walking control method are disclosed, which enable stable walking without force sensors on leg tips. A legged robot of the present invention comprises a torso, a leg link, which is swingably connected to the torso, storing meansfor storing leg tip gait data describing a time-series change in a target leg tip motion, storing meansfor storing torso gait data describing a time-series change in a target torso motion, which realizes a target ZMP following the change in the target leg tip motion, torso motion detection meansfor detecting an actual torso motion, deviation calculation meansfor calculating a deviation of the actual torso motion from the target torso motion, correction quantity calculation meansfor determining a correction quantity from the calculated deviation based on a prescribed transfer function, and correction meansfor correcting the target torso gait data based on the determined correction quantity.