Motion control for a legged robot
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United States of America Patent
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Nov 1, 2005
Grant Date -
Jul 24, 2003
app pub date -
Nov 25, 2002
filing date -
Nov 17, 2000
priority date (Note) -
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Abstract
A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion units, each motion unit serving as a unit of motion, and one or more motion units are combined to generate various complex motions. Dynamic motion units are defined on the basis of basic dynamic attitudes, and a desired action sequence can be generated by using the dynamic motion units. This is a basic control method necessary for a robot to autonomously perform a continuous motion, a series of continuous motions, or motions which are changed in real-time by commands.
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