Is a
Patent attributes
Current Assignee
Patent Jurisdiction
Patent Number
Patent Inventor Names
Tadaaki Hasegawa0
Takashi Matsumoto0
Toru Takenaka0
Date of Patent
October 10, 2006
0Patent Application Number
104761530
Date Filed
April 25, 2002
0Patent Citations Received
Patent Primary Examiner
Patent abstract
A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is calculated or determined based on a difference (full-model ZMP's error) between the calculated model's ZMP and the desired ZMP, whilst a corrected desired body position is calculated or determined. Since the robot posture is corrected by the calculated ZMP-converted value and the corrected desired body position, the corrected gait can satisfy the dynamic equilibrium condition accurately.
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