发明授权
- 专利标题： Robot controller, robot control method, and legged robot
- 专利标题（中）： 机器人控制器，机器人控制方法和腿式机器人
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申请号： US13129982申请日： 2010-02-26
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公开(公告)号： US08473102B2公开(公告)日： 2013-06-25
- 发明人: Fukashi Andoh
- 申请人： Fukashi Andoh
- 申请人地址： JP Toyota-shi
- 专利权人： Toyota Jidosha Kabushiki Kaisha
- 当前专利权人： Toyota Jidosha Kabushiki Kaisha
- 当前专利权人地址： JP Toyota-shi
- 代理机构： Kenyon & Kenyon LLP
- 优先权： JP2009-103917 20090422
- 国际申请： PCT/JP2010/001308 WO 20100226
- 国际公布： WO2010/122705 WO 20101028
- 主分类号： G05B19/18
- IPC分类号： G05B19/18
摘要：
A robot controller in accordance with the present invention is a robot controller that makes a robot including a plurality of legs walk by driving joints of the robot, the robot controller being configured to determine a permissible range for a trunk vertical position of the robot based on measured environmental parameters, the measured environmental parameters being information of an environment around the robot, and to make the robot walk based on measured posture parameters representing a posture of the robot so that the trunk vertical position remains within the permissible range. In this way, a legged robot with high robustness as well as its controller and control method can be provided.
公开/授权文献
- US20110224827A1 ROBOT CONTROLLER, ROBOT CONTROL METHOD, AND LEGGED ROBOT 公开/授权日：2011-09-15
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