(19)
(11) EP 2 206 582 A8

(12) CORRECTED EUROPEAN PATENT APPLICATION
Note: Bibliography reflects the latest situation

(15) Correction information:
Corrected version no 1 (W1 A1)

(48) Corrigendum issued on:
02.03.2011 Bulletin 2011/09

(43) Date of publication:
14.07.2010 Bulletin 2010/28

(21) Application number: 10003336.4

(22) Date of filing: 28.06.2004
(51) International Patent Classification (IPC): 
B25J 5/00(2006.01)
B62D 57/032(2006.01)
 B25J 13/00(2006.01)
(84) Designated Contracting States:
DE FR GB

(30) Priority: 27.06.2003 JP 2003185930

(62) Application number of the earlier application in accordance with Art. 76 EPC:
04746941.6 / 1642687

(71) Applicant: Honda Motor Co., Ltd.
Minato-ku Tokyo 107-8556 (JP)

(72) Inventors:
  • Takenaka, Toru
    Wako-shi Saitama 351-0193 (JP)
  • Matsumoto, Takashi
    Wako-shi Saitama 351-0193 (JP)
  • Yoshiike, Takahide
    Wako-shi Saitama 351-0193 (JP)

(74) Representative: Hague, Alison Jane 
Dehns St Bride's House 10 Salisbury Square
London EC4Y 8JD
London EC4Y 8JD (GB)

 
Remarks:
This application was filed on 29-03-2010 as a divisional application to the application mentioned under INID code 62.
 


(54) Control device of legged mobile robot


(57) On the basis of at least a difference between a desired state amount related to a posture of a robot (1) about a vertical axis or a floor surface normal line axis and an actual state amount of the robot (1) and a permissible range of a restriction object amount, namely, a vertical component of a floor reaction force moment or a component of the floor reaction force moment in a floor surface normal line direction to be applied to the robot (1), instantaneous values of a desired motion and a desired floor reaction force are determined such that a difference between a floor reaction force moment balancing with the desired motion on a dynamic model and a floor reaction force moment of the desired floor reaction force approximates the aforesaid difference to zero, while having the restriction object amount, which is associated with the desired floor reaction force, fall within the permissible range.