Leg type moving robot, its motion teaching method and storage medium

A technology for moving robots and machines, used in instruments, manipulators, motor vehicles, etc.
CN1463215AInactive Publication Date: 2003-12-24SONY CORP
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Patent Information

Authority / Receiving Office
CN Β· China
Patent Type
Applications(China)
Current Assignee / Owner
SONY CORP
Publication Date
2003-12-24
Estimated Expiration
Not applicable Β· inactive patent

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Abstract

A learning motion control is made by using a hierarchical recurrent neural network. A variety of motion patterns can be created by segmenting a motion pattern taught by a human into parts, automatically in time series, combining the parts, and controlling the motion of the body. Local time-series patterns and a perspective pattern combination of the local time-series patterns are formed by time-series segmentation. The control stability of the motion pattern is ensured since the ZMP stability criteria witch are the indices of the static and dynamic stabilities of body are satisfied.
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Description

technical field

[0001] The invention relates to a legged mobile robot with joints with multiple degrees of freedom, a method for teaching motion in the robot and a storage medium product. More particularly, the present invention relates to a legged mobile robot that learns motion patterns in the form of time-series data using a recurrent neural network, a method of teaching motion in a robot, and a storage medium product. Background technique

[0002] A mechanical machine capable of performing actions based on electrical or magnetic action in a manner simulating human actions is commonly referred to as a "robot". The word "robot" is said to be derived from the Slavic word "ROBOTA (slave machine)". In Japan, robot use spread from the late 1960s. However, many robots are industrial robots, such as manipulator and transport robots intended for automated and unattended operation of production work in factories.

[0003] A fixed robot that is fixedly installed in a specific pl...

Claims

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