Patent application number | Description | Published |
20090187275 | Legged Robot and Control Method Thereof - Technology is provided that can compute a center of gravity pathway for a robot in which the ZMP matches the target ZMP, even if the robot is caused to perform a crouching movement during a single leg ground phase. The robot of the present invention is a legged robot that moves the center of gravity in the vertical direction when one leg link is grounded by changing joint angles, and comprises means for generating the vertical pathway of the center of gravity, means for computing the horizontal pathway of the center of gravity, based upon the generated vertical pathway of the center of gravity, a tridiagonal equation which is a discretization of a ZMP equation, a target ZMP, and horizontal speeds of the center of gravity at the beginning and the completion of the vertical pathway, means for computing chronological data of target values of the joint angles, based upon the generated vertical pathway and the computed horizontal pathway of the center of gravity, and means for rotating the joints based upon the computed chronological data of the target values of the joint angles. | 07-23-2009 |
20100017028 | LEGGED ROBOT - A legged robot that runs while repeating a jump cycle including a ground-contact phase from a landing to a takeoff and an aerial phase from a takeoff to a landing is provided. The legged robot adjusts the landing timing after a jump in accordance with a planned timing, thereby attaining a smooth landing. A measuring unit of the legged robot measures an actual aerial phase period in a k-th jump cycle. A subtractor calculates a time difference between a target aerial phase period and the actual aerial phase period in the k-th jump cycle. A target velocity determining unit calculates a target vertical velocity of a center of gravity on a takeoff timing in a (k+1)-th jump cycle so as to eliminate the time difference. Motors in respective joints are controlled so as to realize the calculated target vertical velocity in the (k+1)-th jump cycle. As a result, the time difference generated in the k-th jump cycle in the (k+1)-th jump cycle can be compensated, thereby adjusting the landing timing with the planned landing timing, resulting in the jump motion with smooth landing. | 01-21-2010 |
Patent application number | Description | Published |
20090008168 | Vehicle, Driving Device And Control Method Thereof - When a gear of a transmission for transmitting torque of a motor to a drive shaft is shifted while an accelerator is off or an accelerator pedal is slightly stepped on, an upper limit rotation speed is set using a fluctuation rate of a value smaller than a value when the gear is not shifted, a target rotation speed of an engine is set using this upper limit rotation speed, and control is carried out so that an engine is operated at the target rotation speed. By this arrangement, when the accelerator pedal is stepped on and a large torque demand is demanded, rise of the engine rotation speed is restricted, a portion used for raising the rotation speed in power outputted from the engine is made smaller, and a larger power can be outputted to the drive shaft. | 01-08-2009 |
20090062063 | VEHICLE, DRIVING SYSTEM, AND CONTROL METHODS THEREOF - At the time of a Hi-to-Lo speed change of a transmission, which is configured to transmit an output torque of a motor to a driveshaft, in an accelerator off state or in a low acceleration state with the driver's slight depression of an accelerator pedal, an engine is controlled to be driven at a rotation speed of not lower than a speed change-time minimum rotation speed that is higher than an idling rotation speed. When the driver depresses the accelerator pedal to require a large torque demand, such drive control enables quick output of a large torque from the engine to a ring gear shaft as the driveshaft. | 03-05-2009 |
20100081539 | POWER OUTPUT APPARATUS, VEHICLE INCLUDING POWER OUTPUT APPARATUS, AND CONTROL UNIT AND METHOD FOR POWER OUTPUT APPARATUS - When there is no malfunction in either drive shaft rotational speed detection portion ( | 04-01-2010 |
20120101678 | CONTROL APPARATUS FOR VEHICLE - A control apparatus for a vehicle is provided for a vehicle that has a normal mode and a power mode as vehicle driving characteristics. The control apparatus includes a continuously variable transmission mechanism that steplessly changes a speed ratio when rotational driving force of an engine output shaft is transmitted to a rotating output shaft; and a control portion that controls the continuously variable transmission mechanism such that, when a rotation speed is increased to a target rotation speed and a required output of an internal combustion engine when the power mode is selected is the same as when the normal mode is selected, the rate of increase in the rotation speed is greater when the power mode is selected than when the normal mode is selected. | 04-26-2012 |