Control method for legged mobile robot

A control method for a legged mobile robot includes exercising a body of a robot such that a center of gravity of the robot obtains a momentum or the body obtains an angular momentum in a direction in which an object is to be moved while restraining a force from being applied to the object from the...

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Bibliographic Details
Main Authors OGAWA NAOHIDE, HASEGAWA TADAAKI
Format Patent
LanguageEnglish
Published 29.07.2014
Subjects
CALCULATING
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
HAND TOOLS
LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
MANIPULATORS
MOTOR VEHICLES
PERFORMING OPERATIONS
PHYSICS
PORTABLE POWER-DRIVEN TOOLS
TRAILERS
TRANSPORTING
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Summary:A control method for a legged mobile robot includes exercising a body of a robot such that a center of gravity of the robot obtains a momentum or the body obtains an angular momentum in a direction in which an object is to be moved while restraining a force from being applied to the object from the robot in a state wherein the robot opposes the object, and applying a force to the object from a hand of an arm body provided in the body of the robot so as to start moving the object in a state wherein the center of gravity has obtained the momentum or the body has an angular momentum. With this arrangement, when moving an object by a robot, a motion of the robot can be smoothly changed while preventing a significant change in ZMP before and after starting to move the object.
Bibliography:Application Number: US20050572541