| 摘要 |
PROBLEM TO BE SOLVED: To make a robot correspond to a change in walk environment. SOLUTION: When a central control section 123 detects unexpected phenomena such as a big disturbance, obstacle, vertical level difference on a walk surface, a reflection control section 123d is configured to issue a motion command to a motion generating section 123a to minimize the inertial change of the robot corresponding to the phenomena, and the motion generating section 123a is configured to generate a corrected motion, or the reflection control section 123d generates the corrected motion directly and outputs it to a correction section 123e. COPYRIGHT: (C)2008,JPO&INPIT
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