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US6301524B1
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Gait generation system of legged mobile robot
Assignee: Honda Motor Co Ltd
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Filing: 1998-06-10
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Granted: 2001-10-09
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Expires: 2018-06-10
Abstract
Abstract In a gait generation system for a legged mobile robot, in particular a legged mobile robot having a body and a plurality of legs links each connected to the body through a joint, it is configured such that gaits comprising motion parameters and floor reaction force parameters are varied freely on a real-time basis during walking. In order to effect this, various standard gaits have been prepared on an off-line computer and an approximated value such as a weighted average thereof is calculated in response to a demand for gait, and gaits are generated. Moreover, the gaits are corrected using an inverted pendulum model such that positions and the velocities are continuous at the boundary of the gaits. With the arrangement, it becomes possible to generate gaits having the floor reaction force freely on a real-time basis to effect a stride or turning angle as desired. It also becomes possible to make the displacements and velocities of various portions of the robot continuous at the boundary of the gaits. In addition, it becomes possible to control the legged mobile robot based on the gaits thus generated on a real-time basis.
Inventors
- 👤 Toru Takenaka
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 09:12
CPC Classifications
B; B62; B62D; B62D57/00; B62D57/02; B62D57/032
Claims Analysis
Total Claims: 33
Claim 1
Independent Claim
141 words
A system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint comprising: a. standard gait storing means for storing, in memory, a plurality of standard gaits, including at least a gait to start walking, a gait for constant speed walking, and a gait to stop walking, each comprising a set of parameters including a parameter relating to a floor reaction force; b. gait demanding means for making a demand for gait; and c. gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation on at least one of the parameters of the selected standard gait or gaits.
Claim 2
Independent Claim
141 words
A system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint comprising: a. standard gait storing means for storing, in memory, a plurality of standard gaits, including at least a gait to start walking, a gait for constant speed walking, and a gait to stop walking, each comprising a set of parameters including a parameter relating to a floor reaction force; b. gait demanding means for making a demand for gait; and c. gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation on at least one of the parameters of the selected standard gait or gaits.
Claim 3
Dependent Claim
32 words
A system according to claim 1 , wherein said gait generating means generates the approximated gait by calculating a weighted average of at least one of the parameters of the selected gaits.
Claim 4
Dependent Claim
37 words
A system according to claim 1 , wherein said gait generating means generates the approximated gait by using a parameter sensitivity of one of the parameters to another of the parameters of the selected gait or gaits.
Claim 5
Dependent Claim
54 words
A system according to claim 1 , wherein said gait generating means generates the approximated gait by calculating a weighted average of at least one of the parameters of the selected gaits and by using a parameter sensitivity of one of the parameters to another of the parameters of the selected gait or gaits.
Claim 6
Dependent Claim
74 words
A system according to claim 3 , wherein said gait generating means includes: d. change amount determining means for determining an amount of change in the one parameter relative to a unit amount of change in the another parameter in at least one of the standard gaits, as the parameter sensitivity of the selected gait and for storing the parameter sensitivity in memory; and generates the approximated gait by using the stored parameter sensitivity.
Claim 7
Dependent Claim
87 words
A system according to claim 1 , wherein said gait generating means includes: e. describing means for describing a relationship of perturbation of one of the parameters relative to the parameter relating to the floor reaction force in the standard gaits; and corrects the approximated gait based on the described relationship of perturbation to generate gaits which satisfy the demand for gait in such a manner that at least one of the displacements and velocities in the generated gaits is continuous at a boundary of the gaits.
Claim 8
Dependent Claim
23 words
A system according to claim 6 , wherein the perturbation of one of the parameters is a perturbation of a horizontal body position.
Claim 9
Dependent Claim
16 words
A system according to claim 6 , wherein the relationship is described by a linear model.
Claim 10
Dependent Claim
17 words
A system according to claim 8 , wherein the relationship is described by an inverted pendulum model.
Claim 11
Dependent Claim
16 words
A system according to claim 6 , wherein the relationship is described by time-series tabulated data.
Claim 12
Dependent Claim
40 words
A system according to claim 1 , wherein said gait generating means generates the approximated gait by excluding the parameter relating to the floor reaction force if the parameter relating to the floor reaction force is under a predetermined condition.
Claim 13
Dependent Claim
54 words
A system according to claim 1 , wherein said gait generating means includes; f. joint angle command calculating means for calculating a joint angle command of the robot based on the generated gait; and g. joint controlling means for controlling the joint of the robot such that it traces the calculated joint angle command.
Claim 14
Dependent Claim
61 words
A system according to claim 12 , wherein said joint angle command calculating means includes; h. detecting means for detecting a state of the robot; and i. correcting means for correcting a position and an orientation of the robot in response to the detected state; and calculates the joint angle command such that the corrected position and the orientation are effected.
Claim 15
Dependent Claim
86 words
A system according to claim 5 , wherein said gait generating means includes; describing means for describing a relationship of perturbation of one of the parameters relative to the parameter relating to the floor reaction force in the standard gaits; and corrects the approximated gait based on the described relationship of perturbation to generate gaits which satisfy the demand for gait in such a manner that at least one of the displacements and velocities in the generated gaits are continuous at a boundary of the gaits.
Claim 16
Dependent Claim
23 words
A system according to claim 14 , wherein the perturbation of one of the parameters is a perturbation of a horizontal body position.
Claim 17
Dependent Claim
16 words
A system according to claim 14 , wherein the relationship is described by a linear model.
Claim 18
Dependent Claim
17 words
A system according to claim 16 , wherein the relationship is described by an inverted pendulum model.
Claim 19
Dependent Claim
16 words
A system according to claim 14 , wherein the relationship is described by time-series tabulated data.
Claim 20
Dependent Claim
40 words
A system according to claim 5 , wherein said gait generating means generates the approximated gait by excluding the parameter relating to the floor reaction force if the parameter relating to the floor reaction force is under a predetermined condition.
Claim 21
Dependent Claim
40 words
A system according to claim 6 , wherein said gait generating means generates the approximated gait by excluding the parameter relating to the floor reaction force if the parameter relating to the floor reaction force is under a predetermined condition.
Claim 22
Dependent Claim
52 words
A system according to claim 5 , wherein said gait generating means includes; joint angle command calculating means for calculating a joint angle command of the robot based on the generated gait; and joint controlling means for controlling the joint of the robot such that it traces the calculated joint angle command.
Claim 23
Dependent Claim
52 words
A system according to claim 6 , wherein said gait generating means includes; joint angle command calculating means for calculating a joint angle command of the robot based on the generated gait; and joint controlling means for controlling the joint of the robot such that it traces the calculated joint angle command.
Claim 24
Dependent Claim
59 words
A system according to claim 21 , wherein said joint angle command calculating means includes; detecting means for detecting a state of the robot; and correcting means for correcting a position and an orientation of the robot in response to the detected state; and calculates the joint angle command such that the corrected position and the orientation are effected.
Claim 25
Dependent Claim
58 words
A system according to claim 22 , wherein said joint angle command calculating means includes; detecting means for detecting a state of the robot; correcting means for correcting a position and an orientation of the robot in response to the detected state; and calculates the joint angle command such that the corrected position and the orientation are effected.
Claim 26
Independent Claim
138 words
A system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint, comprising: standard gait storing means for storing, in memory, a plurality of standard gaits, including at least a gait to start walking, a gait for constant speed walking, and a gait to stop walking, each comprising a set of parameters including a parameter relating to motion of the robot: gait demanding means for making a demand for gait; and gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation on at least one of the parameters of the selected standard gait or gaits.
Claim 27
Independent Claim
138 words
A system for generating a gait of a legged mobile robot having at least a body and a plurality of leg links each connected to the body through a joint, comprising: standard gait storing means for storing, in memory, a plurality of standard gaits, including at least a gait to start walking, a gait for constant speed walking, and a gait to stop walking, each comprising a set of parameters including a parameter relating to motion of the robot: gait demanding means for making a demand for gait; and gait generating means for generating an approximated gait which satisfies the demand for gait by selecting one or a plurality of the standard gaits in response to the demand for gait, and by conducting approximation on at least one of the parameters of the selected standard gait or gaits.
Claim 28
Dependent Claim
32 words
A system according to claim 25 , wherein said gait generating means generates the approximated gait by calculating a weighted average of at least one of the parameters of the selected gaits.
Claim 29
Dependent Claim
37 words
A system according to claim 25 , wherein said gait generating means generates the approximated gait by using a parameter sensitivity of one of the parameters to another of the parameters of the selected gait or gaits.
Claim 30
Dependent Claim
54 words
A system according to claim 25 , wherein said gait generating means generates the approximated gait by calculating a weighted average of at least one of the parameters of the selected gaits and by using a parameter sensitivity of one of the parameters to another of the parameters of the selected gait or gaits.
Claim 31
Dependent Claim
73 words
A system according to claim 27 , wherein said gait generating means includes: change amount determining means for determining an amount of change in the one parameter relative to a unit amount of change in the other parameter in at least one of the standard gaits, as the parameter sensitivity of the selected gait and for storing the parameter sensitivity in memory; and generates the approximated gait by using the stored parameter sensitivity.
Claim 32
Dependent Claim
52 words
A system according to claim 25 , wherein said gait generating means includes: joint angle command calculating means for calculating a joint angle command of the robot based on the generated gait; and joint controlling means for controlling the joint of the robot such that it traces the calculated joint angle command.
Claim 33
Dependent Claim
59 words
A system according to claim 30 , wherein said joint angle command calculating means includes: detecting means for detecting a state of the robot; and correcting means for correcting a position and an orientation of the robot in response to the detected state; and calculates the joint angle command such that the corrected position and the orientation are effected.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2004-10-08 | 2005-04-09 | 2005-10-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2008-10-08 | 2009-04-09 | 2009-10-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2012-10-08 | 2013-04-09 | 2013-10-09 | $7700.00 | Window Closed / Lapsed |