ZMP CONTROLLER FOR WALKING ROBOT

ZMP CONTROLLER FOR WALKING ROBOT

PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking r...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: KANEKO KENJI, NAKAOKA SHINICHIRO, MORISAWA MITSUHARU, KANEHIRO FUMIO, KAJITA HIDEJI, MIURA KANAKO
Format: Patent
Sprache:eng
Schlagworte:
CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page
container_issue
container_start_page
container_title
container_volume
creator KANEKO KENJI
NAKAOKA SHINICHIRO
MORISAWA MITSUHARU
KANEHIRO FUMIO
KAJITA HIDEJI
MIURA KANAKO
description PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking robot. Even when legs of the walking robot are stretched completely, the waist joint is rotated around a roll shaft so that the right leg thereof is lowered and the left leg thereof is raised to move the ZMP to the right leg side or the right leg thereof is raised and the left leg thereof is lowered to move the ZMP to the left leg side. As a result, ZMP control can be made possible. A reverse system or model matching control is used for compensating a control delay of the ZMP control.
format Patent
fullrecord <record><control><sourceid>epo_EVB</sourceid><recordid>TN_cdi_epo_espacenet_JP2012040644A</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><sourcerecordid>JP2012040644A</sourcerecordid><originalsourceid>FETCH-epo_espacenet_JP2012040644A3</originalsourceid><addsrcrecordid>eNrjZFCI8g1QcPb3Cwny9_FxDVJw8w9SCHf08fb0c1cI8nfyD-FhYE1LzClO5YXS3AxKbq4hzh66qQX58anFBYnJqXmpJfFeAUYGhkYGJgZmJiaOxkQpAgBBiSJe</addsrcrecordid><sourcetype>Open Access Repository</sourcetype><iscdi>true</iscdi><recordtype>patent</recordtype></control><display><type>patent</type><title>ZMP CONTROLLER FOR WALKING ROBOT</title><source>esp@cenet</source><creator>KANEKO KENJI ; NAKAOKA SHINICHIRO ; MORISAWA MITSUHARU ; KANEHIRO FUMIO ; KAJITA HIDEJI ; MIURA KANAKO</creator><creatorcontrib>KANEKO KENJI ; NAKAOKA SHINICHIRO ; MORISAWA MITSUHARU ; KANEHIRO FUMIO ; KAJITA HIDEJI ; MIURA KANAKO</creatorcontrib><description>PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking robot. Even when legs of the walking robot are stretched completely, the waist joint is rotated around a roll shaft so that the right leg thereof is lowered and the left leg thereof is raised to move the ZMP to the right leg side or the right leg thereof is raised and the left leg thereof is lowered to move the ZMP to the left leg side. As a result, ZMP control can be made possible. A reverse system or model matching control is used for compensating a control delay of the ZMP control.</description><language>eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; HAND TOOLS ; MANIPULATORS ; PERFORMING OPERATIONS ; PORTABLE POWER-DRIVEN TOOLS ; TRANSPORTING</subject><creationdate>2012</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20120301&amp;DB=EPODOC&amp;CC=JP&amp;NR=2012040644A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&amp;date=20120301&amp;DB=EPODOC&amp;CC=JP&amp;NR=2012040644A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>KANEKO KENJI</creatorcontrib><creatorcontrib>NAKAOKA SHINICHIRO</creatorcontrib><creatorcontrib>MORISAWA MITSUHARU</creatorcontrib><creatorcontrib>KANEHIRO FUMIO</creatorcontrib><creatorcontrib>KAJITA HIDEJI</creatorcontrib><creatorcontrib>MIURA KANAKO</creatorcontrib><title>ZMP CONTROLLER FOR WALKING ROBOT</title><description>PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking robot. Even when legs of the walking robot are stretched completely, the waist joint is rotated around a roll shaft so that the right leg thereof is lowered and the left leg thereof is raised to move the ZMP to the right leg side or the right leg thereof is raised and the left leg thereof is lowered to move the ZMP to the left leg side. As a result, ZMP control can be made possible. A reverse system or model matching control is used for compensating a control delay of the ZMP control.</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>HAND TOOLS</subject><subject>MANIPULATORS</subject><subject>PERFORMING OPERATIONS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>TRANSPORTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2012</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZFCI8g1QcPb3Cwny9_FxDVJw8w9SCHf08fb0c1cI8nfyD-FhYE1LzClO5YXS3AxKbq4hzh66qQX58anFBYnJqXmpJfFeAUYGhkYGJgZmJiaOxkQpAgBBiSJe</recordid><startdate>20120301</startdate><enddate>20120301</enddate><creator>KANEKO KENJI</creator><creator>NAKAOKA SHINICHIRO</creator><creator>MORISAWA MITSUHARU</creator><creator>KANEHIRO FUMIO</creator><creator>KAJITA HIDEJI</creator><creator>MIURA KANAKO</creator><scope>EVB</scope></search><sort><creationdate>20120301</creationdate><title>ZMP CONTROLLER FOR WALKING ROBOT</title><author>KANEKO KENJI ; NAKAOKA SHINICHIRO ; MORISAWA MITSUHARU ; KANEHIRO FUMIO ; KAJITA HIDEJI ; MIURA KANAKO</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_JP2012040644A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2012</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>HAND TOOLS</topic><topic>MANIPULATORS</topic><topic>PERFORMING OPERATIONS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>TRANSPORTING</topic><toplevel>online_resources</toplevel><creatorcontrib>KANEKO KENJI</creatorcontrib><creatorcontrib>NAKAOKA SHINICHIRO</creatorcontrib><creatorcontrib>MORISAWA MITSUHARU</creatorcontrib><creatorcontrib>KANEHIRO FUMIO</creatorcontrib><creatorcontrib>KAJITA HIDEJI</creatorcontrib><creatorcontrib>MIURA KANAKO</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>KANEKO KENJI</au><au>NAKAOKA SHINICHIRO</au><au>MORISAWA MITSUHARU</au><au>KANEHIRO FUMIO</au><au>KAJITA HIDEJI</au><au>MIURA KANAKO</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>ZMP CONTROLLER FOR WALKING ROBOT</title><date>2012-03-01</date><risdate>2012</risdate><abstract>PROBLEM TO BE SOLVED: To provide a ZMP (Zero Moment Point) controller for a bipedal walking robot, which achieves bipedal walking like such a graceful walk of a fashion model that legs of the fashion model are stretched but knees thereof are not bent.SOLUTION: A waist joint is added to the walking robot. Even when legs of the walking robot are stretched completely, the waist joint is rotated around a roll shaft so that the right leg thereof is lowered and the left leg thereof is raised to move the ZMP to the right leg side or the right leg thereof is raised and the left leg thereof is lowered to move the ZMP to the left leg side. As a result, ZMP control can be made possible. A reverse system or model matching control is used for compensating a control delay of the ZMP control.</abstract><oa>free_for_read</oa></addata></record>
fulltext fulltext_linktorsrc
identifier
ispartof
issn
language eng
recordid cdi_epo_espacenet_JP2012040644A
source esp@cenet
subjects CHAMBERS PROVIDED WITH MANIPULATION DEVICES
HAND TOOLS
MANIPULATORS
PERFORMING OPERATIONS
PORTABLE POWER-DRIVEN TOOLS
TRANSPORTING
title ZMP CONTROLLER FOR WALKING ROBOT
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2024-12-25T12%3A59%3A38IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-epo_EVB&rft_val_fmt=info:ofi/fmt:kev:mtx:patent&rft.genre=patent&rft.au=KANEKO%20KENJI&rft.date=2012-03-01&rft_id=info:doi/&rft_dat=%3Cepo_EVB%3EJP2012040644A%3C/epo_EVB%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rfr_iscdi=true