Driving method, drive control apparatus, and robot
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United States of America Patent
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Mar 15, 2011
Grant Date -
Nov 8, 2007
app pub date -
May 1, 2007
filing date -
May 2, 2006
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A robot has a plurality of limbs with joints; a driving section for driving the joints periodically to form periodic movements on a floor by means of the plural limbs; and a controller capable of performing various operations. The operations include detecting over time floor reaction forces received through the plural limbs contacting the floor during the periodic movement; deriving a center position of the floor reaction forces received from ground contacting limbs during movement and a change in the center position over time; calculating desired angles of the plural joints directly based on the derived current center position, without deriving a desired center position indicating the center position at a future time, controlling the plural joints based on the calculated desired angles; and driving the robot with the controlled plural joints.
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