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A MOBILE ROBOT WITH ENHANCED BALANCED MOTION AND BEHAVIOR CAPABILITIES
A MOBILE ROBOT WITH ENHANCED BALANCED MOTION AND BEHAVIOR CAPABILITIES
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机译:具有增强的平衡运动和行为能力的移动机器人
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摘要
A mobile robot is provided to follow a trajectory and adopt a behavior which can be defined by movements of articulated limbs of the robot. The mobile robot is equipped with a processor which is configured, based on instructions defining a motion of the mobile robot and instructions defining a behavior of the mobile robot, to calculate a target trajectory of a center of mass of the mobile robot; calculate, based on the target trajectory of the center of mass of the mobile robot and dynamic constraints of the mobile robot, a predicted trajectory of the center of mass of the mobile robot over a time horizon, and calculate, based on the predicted trajectory of the center of mass of the mobile robot and the instructions defining a behavior of the mobile robot, predicted movements of articulated limbs.
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