首页> 外国专利> WALKING PATTERN CREATING DEVICE, BIPEDAL WALKING ROBOT DEVICE, WALKING PATTERN CREATING METHOD, BIPEDAL WALKING ROBOT DEVICE CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

WALKING PATTERN CREATING DEVICE, BIPEDAL WALKING ROBOT DEVICE, WALKING PATTERN CREATING METHOD, BIPEDAL WALKING ROBOT DEVICE CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

机译：行走模式创建设备，双向行走机器人设备，行走模式创建方法，双向行走机器人设备控制方法，程序和记录介质

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摘要

PROBLEM TO BE SOLVED: To provide a walking pattern creating device which allows a bipedal walking robot device to carry out stable bipedal walking even if a person rides on it or a heavy cargo is loaded on it.;SOLUTION: The walking pattern creating device has: a riding person mass point track calculating means 222a for calculating a track of each mass point of a dynamic model of the riding person, based on a parameter of the dynamic model of the riding person, acquired beforehand; a riding person mass point acceleration calculating means 222b for calculating an acceleration of each mass point of the dynamic model of the riding person, based on the calculated track of each mass point; an error moment calculating means 219 for calculating an error moment at a target zero moment point, based on the calculated acceleration of each mass point of the bipedal walking robot device, and the calculated acceleration of each mass point of the dynamic model of the riding person; and a leg position posture calculating means 221 for calculating a leg position when the calculated error moment becomes smaller than a predetermined value, and calculating the posture of a leg.;COPYRIGHT: (C)2008,JPO&INPIT

机译：要解决的问题：提供一种行走模式创建设备，该行走模式创建设备即使人骑在上面或装载重物也可以使双足机器人行走装置进行稳定的双足行走。骑乘者质量点轨迹计算装置222a，用于根据预先获取的骑乘者的动力学模型的参数，计算出该骑乘者的动力学模型的各个质量点的轨迹。骑乘者质量点加速度计算装置222b，用于基于所计算出的每个质量点的轨迹来计算骑乘者的动力学模型的每个质量点的加速度;误差力矩计算装置219，用于基于计算出的两足步行机器人装置的每个质量点的加速度和所计算出的骑乘者的动态模型的每个质量点的加速度，来计算目标零力矩点处的误差力矩。 ;腿位置姿势计算装置221，用于在计算出的误差力矩小于预定值时计算腿的位置，并计算腿的姿势。COPYRIGHT：（C）2008，JPO＆INPIT

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公开/公告号JP2008068339A

专利类型
公开/公告日2008-03-27

原文格式PDF
申请/专利权人 TAKANISHI ATSUO;TMSUK CO LTD;
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申请/专利号JP20060247375
发明设计人 ENDO NOBUTSUNA;OTA AKIHIRO;HASHIMOTO KENJI;BABA KATSUYUKI;TAKAMOTO YOICHI;SUGAWARA YUSUKE;INO SHIGEAKI;KAWASE MASAMIKI;TANAKA TOMOAKI;SAWATO TERUMASA;HAYASHI AKIHIRO;TAKANISHI ATSUO;
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申请日2006-09-12
分类号B25J5/00;B25J13/00;
国家 JP
入库时间 2022-08-21 20:24:12

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