Toyota jidosha kabushiki kaisha (20240253245). ROBOT
ROBOT
Organization Name
toyota jidosha kabushiki kaisha
Inventor(s)
ROBOT
This abstract first appeared for US patent application 20240253245 titled 'ROBOT
Original Abstract Submitted
a robot that moves on a leg, the robot comprising: a calculation unit that calculates a floor reaction force moment around a vertical axis from a center of gravity and a zmp trajectory of the robot and a moment orbit around the center of gravity, and obtains a correction amount of a moment vector around the center of gravity when the floor reaction force moment around the vertical axis exceeds a frictional limit; and a control unit that controls the robot based on the correction amount.