| 摘要 |
PROBLEM TO BE SOLVED: To calculate a target barycenter position correction amount at a high speed and realize more stable control.SOLUTION: In a barycenter trajectory creation method of a bipedal walking robot, calculated is a target barycenter position of a robot in a one-mass model in which all mass of the robot is supposed to be concentrated to the barycenter of the robot, the present ZMP is calculated by using the present operation of the robot in a detailed model which is nearer to the actual shape of the robot, a target barycenter position correction amount is calculated based on the calculated target barycenter position on the basis of the one-mass model and on the calculated present ZMP, a correction amount of the ZMP for barycenter position correction amount calculation is calculated by using the calculated target barycenter position correction amount, the calculated present ZMP is corrected by using the calculated correction amount of the ZMP for barycenter position correction amount calculation, and the target barycenter position based on the one-mass model is corrected by using the calculated target barycenter position correction amount, to create target barycenter position data of the robot. |
