Biped walking robot control method and biped walking robot control system
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTomohisa Moridaira
Life of this patent
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Abstract
A biped walking robot control method is for master-slave control of walking of a biped walking robot. The biped walking robot control method includes a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator, a target ZMP calculation step of calculating a target ZMP when the biped walking robot produces weights having a ratio of the detected right leg weight and left leg weight, and a control step of controlling the biped walking robot in accordance with the calculated target ZMP.
Claims7
A biped walking robot control method for master-slave control of walking of a biped walking robot, comprising:
- a weight detection step of detecting weights applied to a ground respectively by a right leg and a left leg of an operator;
- a target ZMP calculation step of calculating a target ZMP based on the detected right leg weight and left leg weight, and a right leg position and a left leg position of the biped walking robot so that a ratio of the detected right leg weight and left leg weight becomes equal to a ratio of the right leg weight and left leg weight of the biped walking robot;
- and
- a control step of controlling the biped walking robot in accordance with the calculated target ZMP.
A biped walking robot control system serving as a master for master-slave control of walking of a biped walking robot serving as a slave, comprising:
- a weight detection unit that detects weights applied to a ground respectively by a right leg and a left leg of an operator;
- a target ZMP calculation unit that calculates a target ZMP based on the detected right leg weight and left leg weight, and a right leg position and a left leg position of the biped walking robot so that a ratio of the detected right leg weight and left leg weight becomes equal to a ratio of the right leg weight and left leg weight of the biped walking robot;
- and
- a control unit that controls the biped walking robot in accordance with the calculated target ZMP.
Dependencies are inferred from the claim text.