Gait generation of legged robot

Industrial Robot

ISSN: 0143-991x

Publication date: 1 February 2000



(2000), "Gait generation of legged robot", Industrial Robot, Vol. 27 No. 1.



Emerald Group Publishing Limited

Copyright © 2000, MCB UP Limited

Gait generation of legged robot

Gait generation of legged robot

Keywords: Robots, Honda, Walking

Applicant: Honda Motor Co. Ltd (JP)Patent Number: EP0856457Publication date: 5 August 1998Title: Gait generation system of mobile legged robot

The patent describes a gait generation system of a biped mobile robot having a body and two articulated legs, each having a foot at its distal end connected by an ankle joint. The system has two or three models approximating a deviation of displacement (position) and velocity of the body and the zero moment point (ZMP) indicative of the floor reaction force acting on the robot. In the system, two gaits for a robot walking step are generated. If there is a discontinuity of the body position or velocity or the ZMP in the gait boundary, the models are manipulated to cancel the discontinuity. The output of the models is calculated from the input and, based on the input and output, the gaits are corrected. The models are designed to stop at every two walking steps so as to avoid calculation errors from being accumulated.

Patent abstracts for the past 24 months are available on the Internet on a site maintained by the UK Patent Office. The Web site of the Patent Office is at and the search facility esp@cenet has its home at Extensive help files are available to assist in searching for patents, which can be done using keywords, or if a particular patent is sought, by entering its number in the appropriate box.