| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To reliably make a foot land on an irregular ground road surface. <P>SOLUTION: A leg-type robot 1 includes: a body 10; a leg 20 coupled to the body 10; the foot 26 provided in a lower end of the leg 20; a storage means for storing gait data 2a; a control means for controlling joints of the leg 20 to be driven based on the gait data 2a stored in the storage means; a contact detecting means for detecting the contact between a sole of the foot 26 and the road surface; and a gait data correcting means for correcting the gait data 2a to rotate the foot 26 about a roll axis and/or a pitch axis by centering the contact position between the sole of the foot 26 and the road surface detected by the contact detecting means so as to land the other part of the sole of the foot 26 on the road surface. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
