US Patent Application 18127691. WALKING CONTROL METHOD simplified abstract
Contents
WALKING CONTROL METHOD
Organization Name
Inventor(s)
Hirofumi Shin of Wako-shi (JP)
Takumi Kamioka of Wako-shi (JP)
WALKING CONTROL METHOD - A simplified explanation of the abstract
This abstract first appeared for US patent application 18127691 titled 'WALKING CONTROL METHOD
Simplified Explanation
The patent application describes a method for controlling the movement of a mobile device with legs.
- Decompose the device into multiple mass points.
- Identify a primary mass point and other mass points.
- Maintain a constant length between the primary mass point and a contact point on the walking surface.
- Constrain the other mass points to follow the movements of the primary mass point.
- Generate a trajectory for the constrained mass points based on the constraints.
Original Abstract Submitted
A walking control method of an embodiment includes decomposing a mobile device with legs into a plurality of mass points, decomposing the plurality of decomposed mass points into a first interest mass point and mass points other than the first interest mass point, making a length between the first interest mass point and a contact point on a walking plane constant, making the mass points other than the first interest mass point constrained to an affine-transformed position of the first interest mass point, and generating a constraint trajectory of the mass points other than the first interest mass point in accordance with the constraint when the first interest mass point is moved.
