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:
Jun. 08, 2010
Filed:
Jul. 28, 2005
Tadaaki Hasegawa, Wako, JP;
Tadaaki Hasegawa, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
A gait generator determines a desired motional trajectory and a desired object reaction force trajectory of an objectfor a predetermined period after the current time by using an object dynamic model while supplying, to the object dynamic model, a model manipulated variable (estimated disturbance force) for bringing a behavior of the objecton the object dynamic model close to an actual behavior, and provisionally generates a gait of a robotfor a predetermined period by using the aforesaid determined trajectories. Based on the gait and an object desired motion trajectory, a geometric restrictive condition, such as interference between the robotand the object, is checked, and a moving plan for the objector a gait parameter (predicted landing position/posture or the like) of the robotis corrected as appropriate according to a result of the check, so as to generate a gait of the robot. Thus, a desired gait that satisfies a predetermined geometric restrictive condition related to the interference between the robotand an object is generated by reflecting an actual environmental condition in real time while carrying out the operational control of the robot