http://rdf.ncbi.nlm.nih.gov/pubchem/patent/EP-1974871-A1
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_24f54aefd7a75822ce9d6a7759e20068 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J13-00 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B62D57-032 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/B25J5-00 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J13-00 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/A63H11-18 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B62D57-032 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J5-00 |
| filingDate | 2006-10-31-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_bc8e49fd4b7239b6f6cd59c9259b7038 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_eb19a8e03675a22d9f895aa0992f78a8 |
| publicationDate | 2008-10-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | EP-1974871-A1 |
| titleOfInvention | Gait creation device of leg-type mobile robot |
| abstract | A first provisional desired motion trajectory in the future of an object 120 is determined on the basis of a moving plan of the object 120, and it is determined whether a motion of a leg of a robot 1 that satisfies a necessary requirement is possible or not, the necessary requirement being such that a requirement related to a position/posture relationship between the object and the robot is satisfied at least at the step of a predetermined number of steps of two or more in the future and a restrictive condition related to a motion of a leg of the robot 1 is satisfied at each step up to the step of the predetermined number of steps. If a determination result is affirmative, then a desired gait is generated on the basis of the first provisional desired motion trajectory, or if the determination result is negative, then a desired gait is generated on the basis of a desired motion trajectory of the object 120 according to a corrected moving plan. Thus, a desired gait of the robot which minimizes a situation requiring a correction of a moving plan and allows the object to be moved according to a moving plan as much as possible can be generated, independently of a moving direction of the object with respect to the robot. |
| isCitedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-102183956-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-102183956-B |
| priorityDate | 2005-12-12-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
Total number of triples: 25.