Robot device, robot control method, program, and recording medium

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United States of America Patent

PATENT NO 9339929
APP PUB NO 20140316575A1
SERIAL NO

14251499

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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A joint torque computing unit computes a joint torque T1 of a joint necessary to move a joint angle to a target joint angle. A summing unit obtains a sum value U1 indicating the sum of generated forces generated at actuators, from a target stiffness. A setting unit sets a restricting coefficient h1 to a value greater than 1 when performing non-antagonistic driving, and to 1 when performing antagonistic driving. A restricting unit takes |T1|1×r×h1 as restricting condition where r is moment arm radius, and restricts the joint torque T1 to a range satisfying the conditions. A generated force computing unit computes the generated force of the actuators based on the restricted joint torque T1. The setting unit sets the restricting coefficient h1 to gradually near 1 when switching from non-antagonistic driving to antagonistic driving.

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Patent Owner(s)

Patent OwnerAddress
CANON KABUSHIKI KAISHAOHTA-KU TOKYO 146-8501

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Takagi, Kiyoshi Tokyo, JP 65 539

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