Method of controlling a robot
AssigneeCommissariat A L'energie Atomique Et Aux Energies Alternatives
InventorAlain Micaelli
Life of this patent
Estimating the term…
Abstract
A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.
Claims14
A method of controlling motion on the ground of a device having at least two legs comprising:
- obtaining current values of dynamic state variables of the device;
- an optimization of a movement command for the device under constraints based at least partially on said current values and a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least a first leg, in the current state, and during an instant in which a center of pressure of the device on the ground is changed, the device being supported by at least a second leg, in the second state;
- applying said movement command;
- and
- controlling the device based on said movement command;
- wherein said optimization is performed based at least partially on an assumption that the gravitational potential energy of the device in the second state is a local maximum as a function of time.
A robot, comprising:
- at least two legs;
- and
- a control device,
- wherein said control device performs a control method comprising the steps of:
- obtaining current values of dynamic state variables of the device;
- an optimization of a movement command for the device under constraints based at least partially on said current values and a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least a first leg, in the current state, and during an instant in which a center of pressure of the device on the ground is changed, the device being supported by at least a second leg, in the second state;
- and
- applying said movement command;
- wherein said optimization is performed based at least partially on an assumption that the gravitational potential energy of the device in the second state is a local maximum as a function of time.
Dependencies are inferred from the claim text.