# US 9,434,430 B2 · Biped walking robot control method and biped walking robot control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,434,430 B2 - Document ID: US9434430B2 - Status: Granted - Kind: B2 - Application number: 14/597,607 - Filed: 2015-01-15 - Published: 2015-07-23 - Granted: 2016-09-06 - Earliest claimed: 2014-01-20 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Tomohisa Moridaira - Web page: https://patentgrep.com/patent/US9434430B2 ## CPC - B62D 57/032: with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) - Y10S 901/01: Mobile robot - Y10S 901/46: Sensing device - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The biped walking robot control method according to claim 1, further comprising: a detection step of detecting one step by the operator from a change in the detected right leg weight and left leg weight; and an idling leg trajectory calculation step of calculating an idling leg trajectory for one step of the biped walking robot corresponding to the step by the operator from the right leg weight and left leg weight detected when the one step by the operator ends, wherein the control step further controls the biped walking robot to walk along the calculated idling leg trajectory. ### Claim 3 (depends on 2) The biped walking robot control method according to claim 2, wherein the idling leg trajectory calculation step generates idling leg trajectory information indicating the idling leg trajectory in a size corresponding to an idling leg period of one step by the operator and stores the idling leg trajectory information into a buffer, the control step controls the biped walking robot in accordance with the idling leg trajectory indicated by the idling leg trajectory information stored in the buffer, the biped walking robot control method further includes an idling leg period calculation step of calculating an idling leg period of one step by the operator from a change in the detected right leg weight and left leg weight, and when the calculated idling leg period is longer than an upper limit of a time period for storing the idling leg trajectory information into the buffer, the idling leg period calculation step generates the idling leg trajectory information after correcting the idling leg period to meet the upper limit. ### Claim 4 (depends on 2) The biped walking robot control method according to claim 2, further comprising: an idling leg period calculation step of calculating an idling leg period of one step by the operator from the detected right leg weight and left leg weight, wherein when the calculated idling leg period is shorter than a lower limit of a time period for the biped walking robot to reproduce one step corresponding to the one step by the operator, the idling leg period calculation step generates the idling leg trajectory after correcting the idling leg period of the one step by the operator to meet the lower limit. ### Claim 5 (depends on 2) The biped walking robot control method according to claim 2, further comprising: an idling leg period calculation step of calculating an idling leg period of one step by the operator from the detected right leg weight and left leg weight, wherein when the calculated idling leg period is shorter than a lower limit of a time period for the biped walking robot to reproduce one step corresponding to the one step by the operator, the idling leg period calculation step invalidates the one step by the operator. ### Claim 6 (depends on 1) The biped walking robot control method according to claim 1, further comprising: a hip posture calculation step of calculating a hip posture around a vertical axis of the biped walking robot as a posture obtained by combining postures of a right leg and a left leg of the biped walking robot in accordance with a ratio of weights from the detected right leg weight and left leg weight, wherein the control step further controls the biped walking robot to achieve the calculated hip posture. ### Claim 7 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.