FLOOR SHAPE DEDUCING DEVICE FOR LEGGED MOBILE ROBOT

摘要

A floor shape deducing device for a legged mobile robot, especially a two-legged walking robot. The floor shape, more specifically, the leg-to-leg floor slant difference is deduced on the basis of at least the control difference of the total floor reaction force moment, the both-leg compensation angle is corrected on the basis of the deduction value, the floor shape, more specifically, the feet floor slant difference is deduced on the basis of at least the control difference of the feet floor reaction force moment around the desired feet floor reaction force central point, and the feet compensation angle is corrected on the basis of the deduction value. In such a way, the shape of the floor with which the legs of a legged mobile robot is in contact can be deduced with high accuracy. If the floor shape is different from the assumed one, the influence is absorbed and thereby a desired floor reaction force is generated.