http://rdf.ncbi.nlm.nih.gov/pubchem/patent/JP-2011255500-A
Outgoing Links
| Predicate | Object |
|---|---|
| assignee | http://rdf.ncbi.nlm.nih.gov/pubchem/patentassignee/MD5_60e66be87630d7cef0ce770e1d898eec |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J5-00 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/B25J13-08 |
| filingDate | 2011-08-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| inventor | http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_27c185cf9d3bcb2bc0cbc743c60d95bc http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_60967e89edf448e6fab39192c470ef85 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_051f9c6e9d646d9ca92823ca194af7b2 http://rdf.ncbi.nlm.nih.gov/pubchem/patentinventor/MD5_4698ddf3febeaf9205faf0659d067b2b |
| publicationDate | 2011-12-22-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | JP-2011255500-A |
| titleOfInvention | Control device for legged mobile robot |
| abstract | The movement of a legged mobile robot is determined by taking into account the six-dimensional force and moment that the robot receives from the environment, and generating a motion. Means for measuring an environment based on a signal from a sensor mounted on a robot, digitizing the environment shape based on the measured information, and a six-dimensional force / moment that is a target for generating a robot motion. Means for calculating and means for calculating a six-dimensional force / moment acting on the robot based on time differentiation of acceleration of the center of gravity of the robot and angular momentum around the center of gravity are provided. Corresponding to the movement of a given robot, the 6-dimensional force / moment that the robot receives from the environment due to the contact of the environment is obtained by using the normal vectors at a plurality of contact points in the force / moment space. The transition of the contact state is determined based on whether or not the six-dimensional force / moment acting on the robot is included in the contact force convex polyhedral cone. [Selection] Figure 2 |
| isCitedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/patent/JP-2016172309-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-106564055-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-104097206-A http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-104325462-A |
| priorityDate | 2011-08-01-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID415857418 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID160283 |
Total number of triples: 20.