Patent ID: 6898485
Filing Date: 2005-05-24
Classification: B62D,G06N

Abstract:
1. A motion controller for a robot that comprises at least upper limbs, a trunk, and lower limbs and that performs a legged locomotion with the lower limbs, the controller comprising: means for setting motions of at least one of the upper limbs, the trunk, and the lower limbs; means for calculating a pitch-axis moment and/or a roll-axis moment of the body of the legged walking robot, these moments being generated at a preset ZMP by the set motions of the upper limbs, the trunk, and the lower limbs; means for calculating motions of the lower limbs and the trunk for canceling the pitch-axis moment and/or the roll-axis moment; means for calculating a yaw-axis moment of the body of the legged walking robot, the moment being generated at the preset ZMP by the calculated motions of the lower limbs and the trunk; means for calculating a motion of the upper limbs for canceling the yaw-axis moment; and means for modifying the set motions of the upper limbs, the trunk, and the lower limbs in accordance with the calculated motions of the upper limbs, the trunk, and the lower limbs.