| 主权项 |
1. A robot comprising: a body; a plurality of legs extended from the body; and a control unit configured to control motions of the plurality of legs so as to follow a target gait that includes a target ZMP trajectory and target landing positions of the plurality of legs,
wherein the control unit comprises: a first arithmetic processing element configured to determine an amount of an influence exerted by the target ZMP trajectory on a divergent component of a behavior of the body base on the target ZMP trajectory defined by a linear function of target landing positions of the plurality of legs, which uses, as a coefficient, a time function that permits specified function transformation related to time, according to a dynamics model which represents a relationship between motions of the body and the plurality of legs and a ground reaction force acting on the robot and which is defined by the specified function transformation related to time; and a second arithmetic processing element configured to determine, based on the amount of the influence determined by the first arithmetic processing element, a ZMP modification amount and the target landing positions based thereon such that a first specified requirement is satisfied that the target ZMP trajectory obtained as a result of adding the ZMP modification amount, which is defined as a linear function of the target landing positions, to the target ZMP trajectory falls within a permissible existence area, a placement configuration of which is determined according to a placement configuration of a contact surface between the plurality of legs and a floor. |
