Motion unit generating method for legged mobile robot
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United States of America Patent
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Jul 11, 2006
Grant Date -
Jan 27, 2005
app pub date -
Aug 16, 2004
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 natterns of a robot including walking are classified into motion units, each motion unit servins 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 chanaed in real-time by commands.
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