| 摘要 |
During a contact-point plan setting process, a contact-point plan is set in which the positions of contact points where moving means come into contact with the ground and orientations of the moving means when the moving means come into contact with the ground are expressed in the form of time-series data. During a trajectory generation process, a prediction model, which takes as input derivative values of contact forces of the moving means when coming into contact with the ground, is constructed, changes in the state of a mobile robot within a prediction period having a predetermined time duration are expressed by means of this prediction model, time-series data on the derivative values of the contact forces within the prediction period are obtained using predetermined evaluation criteria, and a trajectory of the gravitational center of the mobile robot is obtained from the obtained time-series data on the derivative values of the contact forces and the prediction model. The predetermined evaluation criteria include a criterion that "the contact forces be distributed over the respective contact points on the basis of weights preset for the respective contact points." |
