| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device for making a robot move on steps of a various range of height while preventing generation of interference with the leg body and an edge of a tread surface of the step, or suppressing a displacement amount of a joint of the leg body of a leg type mobile robot.SOLUTION: A target gait generation part 33 for generating target gait of a leg type mobile robot 1 generates a locus of a target posture so that at least one of the target posture of the target postures of a waist part 2a of the robot 1 in a yaw direction and in a roll direction is changed following the movement of the robot on the step when generating the target gait for moving the robot 1 on the step such as a stair way. |
