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US 2024/0253245 A1Published application
Robot
AssigneeToyota Jidosha Kabushiki Kaisha
InventorMasahiro DOI
Life of this patent
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Abstract
A robot that moves on a leg, the robot comprising: a calculation unit that calculates a floor reaction force moment around a vertical axis from a center of gravity and a ZMP trajectory of the robot and a moment orbit around the center of gravity, and obtains a correction amount of a moment vector around the center of gravity when the floor reaction force moment around the vertical axis exceeds a frictional limit; and a control unit that controls the robot based on the correction amount.
Claims5
A robot that moves with a leg, the robot comprising:
- a calculation unit that calculates a floor reaction force moment around a vertical axis from a center of gravity of the robot, a zero moment point (ZMP) orbit, and a moment orbit around the center of gravity, and obtains a correction amount of a moment vector around the center of gravity when the floor reaction force moment around the vertical axis exceeds a frictional limit;
- and
- a control unit that controls the robot based on the correction amount.
Dependencies are inferred from the claim text.