| 摘要 |
<p>A floor shape deducing device for a leg mobile robot, especially a two-legged walking robot. The leg-to-leg floor slant difference is deduced on the basis of at least the control difference of the total floor reaction force, the both-leg compensation angle is corrected on the basis of the deduction value, the feet floor slant difference is deduced on the basis of at least the control difference of the feet floor reaction force around the desired feet floor reaction force central point, and the feet compensation angle is corrected on the basis of the deduction value. It is judged whether or not the situation leads deterioration of the deduction accuracy on the basis of at least the walking period of the robot. If it is judged that the situation leads deterioration of the deduction accuracy, the deduction of the floor shape is suspended. In such a way, the shape of the floor with which the legged mobile robot contacts can be deduced with high accuracy.</p> |
