| 摘要 |
PROBLEM TO BE SOLVED: To provide a legged robot which facilitates calculation of data of a track of the gravitational center, that allows a stabilized positional angle without executing unnecessary processing such as parameter adjustment, and implements walking/traveling action with a natural posture, and to provide a legged robot control method and a legged robot control system. SOLUTION: The legged robot 2 can carry out action by changing its joint angles, and it is formed of: a means 21 for calculating a rotational momentum about the center of gravity of the legged robot 2 whose upper body positional angle is kept unchanged, according to a target speed commanded to the legged robot 2; a means 30 for calculating the track of the gravitational center of the legged robot 2 by solving a ZMP equation by using the calculated rotational momentum; and means (40, 50) for rotating joints, based on the calculated track of the gravitational center. COPYRIGHT: (C)2009,JPO&INPIT
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