发明授权
- 专利标题: Two-leg walking humanoid robot
- 专利标题(中): 双腿步行人形机器人
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申请号: US10504693申请日: 2003-02-07
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公开(公告)号: US07057367B2公开(公告)日: 2006-06-06
- 发明人: Takayuki Furuta , Tetsuo Tawara , Yu Okumura , Hiroaki Kitano
- 申请人: Takayuki Furuta , Tetsuo Tawara , Yu Okumura , Hiroaki Kitano
- 申请人地址: JP Saitama
- 专利权人: Japan Science and Technology Agency
- 当前专利权人: Japan Science and Technology Agency
- 当前专利权人地址: JP Saitama
- 代理机构: Westerman, Hattori, Daniels & Adrian, LLP.
- 优先权: JP2002-040839 20020218
- 国际申请: PCT/JP03/01326 WO 20030207
- 国际公布: WO03/068454 WO 20030821
- 主分类号: B25J13/00
- IPC分类号: B25J13/00
摘要:
It is a biped (two-footed) walking humanoid robot, which is provided with drive motors (11d, 11e, 18L, 18R-24L, 24R, 28L, 28R-33L, 33R, 35, 36) to pivotally move respective joint portions, and a motion control apparatus (40) to drive-control respective drive motors, and said motion control apparatus (40), together with a detector (45) to detect the robot's current posture and others, compares the robot's detected current posture and others with next motion command input from outside, and if next motion command is within the range of stability limit with respect to the robot's current posture and others, the complementary data with respect to intermediate motion from current posture till initial posture of next motion command and the motion data corresponding to next motion command are generated, each drive motor is drive-controlled based on said complementary and motion data, and thereby various motions are conducted smoothly and continually. It is preferably provided with a motion library (41a) storing time series data of basic motions as the elements of the robot's motions and posture data consisting of algorithm, reads out the corresponding posture data from said motion library, and generates complementary and motion data as the combined motion sequence.
公开/授权文献
- US20050151496A1 Two-leg walking humanoid robot 公开/授权日:2005-07-14