Control device and gait generating device for bipedal mobile robot
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United States of America Patent
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Sep 1, 2015
Grant Date -
Oct 27, 2011
app pub date -
Apr 14, 2011
filing date -
Apr 22, 2010
priority date (Note) -
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Abstract
A control device for a bipedal mobile robot generates a desired motion of a bipedal mobile robot. When causing the robot to perform a one-leg hopping operation, a desired motion of the robot is generated such that the proximal end portion of a free leg of the robot is positioned at a relatively higher level than the proximal end portion of a supporting leg thereof in the state wherein the supporting leg has landed on a floor after leaving from the floor and such that the horizontal distance between the total center-of-gravity point of the robot and the proximal end portion of the supporting leg in the aforesaid state is shorter than the horizontal distance therebetween in a state wherein the robot is standing in an upright posture.
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