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:
Aug. 10, 2010
Filed:
Feb. 28, 2005
Toru Takenaka, Wako, JP;
Takashi Matsumoto, Wako, JP;
Takahide Yoshiike, Wako, JP;
Honda Motor Co., Ltd., Tokyo, JP;
Abstract
To generate a desired gait of a robotsuch that a permissible range of a predetermined component (a translational floor reaction force horizontal component or the like) of a floor reaction force acting on the mobile robot, a gait generating system for a mobile robot creates a provisional motion, which indicates a provisional value of a desired motion, and repeats processing for correcting the provisional motion by using a first dynamic model and a second dynamic model having a dynamic accuracy that is higher than that of the first dynamic model until a predetermined condition is satisfied, thereby obtaining a final corrected motion as the desired motion. Relative to the provisional motion and a corrected motion at each correction, a difference between a predetermined component of a floor reaction force produced on the second dynamic model and a predetermined component of a floor reaction force produced on the first dynamic model is determined as a floor reaction force error, and a change amount of the error at each correction is also determined. A corrected motion when the change amount has converged to zero is determined as the desired motion.