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1. A controller for a mobile robot, which has a plurality of links which include a link constituting a base body and links constituting a plurality of leg link mechanisms extended from the base body and which are interconnected through a plurality of joints, and joint actuators for driving each of the joints, the controller being adapted to have the mobile robot travel by controlling driving forces to be imparted by the joint actuators to each of the joints for operating the leg link mechanisms according to a force control method, and the controller comprising:
a link position and attitude estimating unit configured to sequentially acquire input parameters, which at least include at least one of a desired attitude of a ground contact link of at least one leg link mechanism including the ground contact link that is in contact with a ground among the leg link mechanisms and an observation value of an actual attitude of a first particular link determined in advance among the plurality of links of the mobile robot, a desired position of the ground contact link, and an observation value of an actual displacement amount of each joint between the ground contact link and the first particular link, and to sequentially estimate the actual position and attitude of the first particular link by carrying out processing, which includes at least forward kinematics arithmetic processing, by using the input parameters; and a joint driving force control unit configured to adjust, through the joint actuators, a driving force to be imparted to each of the joints for operating the leg link mechanisms based on at least either one of a difference between estimated values of the actual position and attitude of the first particular link obtained by the link position and attitude estimating unit and desired position and attitude of the first particular link or a difference between estimated values of actual position and attitude of a second particular link, which is different from the first particular link and which is not in contact with a ground, among the plurality of links of the mobile robot, which are estimated values of the actual position and attitude of the second particular link calculated by forward kinematics arithmetic processing based on the estimated values of the actual position and attitude of the first particular link and an observation value of a displacement amount of each joint between the first particular link and the second particular link, and desired position and attitude of the second particular link, such that the difference is reduced. |
