首页> 外国专利> WALKING PATTERN PREPARING DEVICE, 2-LEG WALKING ROBOT DEVICE, WALKING PATTERN PREPARING METHOD, 2-LEG WALKING ROBOT DEVICE CONTROLLING METHOD, PROGRAM AND RECORDING MEDIUM

WALKING PATTERN PREPARING DEVICE, 2-LEG WALKING ROBOT DEVICE, WALKING PATTERN PREPARING METHOD, 2-LEG WALKING ROBOT DEVICE CONTROLLING METHOD, PROGRAM AND RECORDING MEDIUM

机译:步行模式准备设备,2步步行机器人设备,步行模式准备方法,2步步行机器人设备控制方法,程序和记录介质

摘要

A walking pattern preparing device for preparing a walking pattern that enables a parallel-link-mechanism, 2-leg walking robot device to go up/down stairs. The walking pattern preparing device for preparing the walking pattern of a 2-leg walking robot device including legs provided with feet and a waist, comprises a path setting means (212) for setting the paths of right and left feet and the initial path of the waist, and target ZMP path setting means (213) for setting the path of a target zero-moment point based on the paths of the feet and the initial path of the waist, wherein the path setting means sets paths such that, when the robot device goes up stairs, the waist is turned so that an idling foot out of the feet is ahead of the other and the idling foot is lifted and allowed to move forward while kept higher, and when it goes down stairs, the waist is turned so that an idling foot out of the feet is ahead of the other and the idling foot is pushed down to a lower level while allowed to move forward.
机译:一种用于准备行走模式的行走模式准备装置,该行走模式使得并行链接机构的两腿行走机器人装置能够上/下楼梯。用于准备包括腿和脚的两腿步行机器人装置的步行模式的步行模式准备装置,包括用于设定左右脚的路径以及脚的初始路径的路径设定单元(212)。腰部和目标ZMP路径设置装置(213),用于基于脚的路径和腰部的初始路径来设置目标零力矩点的路径,其中,路径设置装置将路径设置为当机器人装置上楼梯,将腰部转弯,以使空转的脚从另一只脚的前面移开,然后将空转的脚抬起并允许其向前移动,同时保持较高的脚,当设备下楼梯时,转弯的腰部空转的脚在另一只脚的前面,并且空转的脚被向下推到较低的高度,同时允许向前移动。

著录项

相似文献

  • 专利
  • 外文文献
  • 中文文献
获取专利

客服邮箱:kefu@zhangqiaokeyan.com

京公网安备:11010802029741号 ICP备案号:京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有
  • 客服微信

  • 服务号