| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable running movement faster than by an existing bipedal running robot and movement simulating a human jump movement.SOLUTION: A movement control system 10 comprises a pair of right and left legs 12, 12, a pelvis part 14 rotatably supports each leg 12 and self-rotatably provided, an actuator 15 that operatively drives each leg 12 and the pelvis part 14 when moving the robot, and a controller 16 that controls the drive of the actuator 15. The pelvis part 14 is capable of pelvis oscillation for rotation in a roll direction on its center as the center of rotation. The controller 16 comprises a pelvis oscillation control part 42 that makes the drive control of the actuator 15 on the basis of a previously stored relational expression of pelvis oscillation during a running process of the robot so that a pelvis oscillation angle that is a rotation angle of the roll direction of the pelvis part 14 may change with time.</p> |
