| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To properly estimate the position and posture of an actual floor surface in an operating environment of a moving body while properly controlling the motion of the moving body in such a manner that the total floor reaction force actually acting on the moving body follows a target total floor reaction force. <P>SOLUTION: The required correction amount of the total floor reaction force designed for bringing deviation between an observation value of the total floor reaction force acting on the moving body 101 and the target total floor reaction force close to zero is converted into the springy displacement of a position and a posture of a representative contact surface representing a ground contact surface of the moving body 101, the correction amount of the displacement of each joint of the moving body 101 is determined by multiplying this springy displacement by a pseudo inverse matrix Jc<SP POS="POST">-1</SP>of a Jacobian matrix Jc representing a relationship between variations of the position and posture of the representative contact surface per unit time and variations of a generalization variable vector of the moving body 101 per unit time, thereby correcting the target displacement of each joint. The displacement of each joint is controlled according to the corrected target joint displacement. The position and posture of the actual floor surface are estimated by correcting a supposed floor surface according to a value obtained by integrating the deviation. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
