Leg motion trajectory generation device for legged mobile robot

摘要

A device 11 includes a floor surface information acquisition portion 21 which acquires floor surface information in a plurality of local regions of a floor surface. The gait generator 22 of the device 11 sets the desired landing position and posture of a free leg 3 of a robot 1 within one local region and determines a desired horizontal motion trajectory of the distal end of the free leg 3 to determine a desired vertical motion trajectory of the distal end of the free leg 3 so that the height of the distal end of the free leg 3 is equal to or higher than a lower-limit height determined to prevent a contact between the distal end of the free leg 3 and the floor surface of the local region at the positions of a plurality of sampling points on the desired horizontal motion trajectory.

主权项

1. A leg motion trajectory generation device for a legged mobile robot which generates a desired motion trajectory of each leg in the legged mobile robot which moves by repeating a leaving motion and a landing motion of a distal end of each of a plurality of the legs, the generation device comprising:
a floor surface information acquisition element which acquires floor surface information including at least floor surface information which is identified beforehand in each of a plurality of local regions of a floor surface in an operating environment of the robot and which represents a position and a posture of a ground-contactable surface of the distal end of each leg of the robot in each local region; a desired landing position/posture setting element which sets a desired landing position and a desired landing posture of the distal end of a free leg, which is a leg making the leaving motion and the landing motion subsequent thereto in the moving motion of the robot, within one local region among the plurality of local regions in which the floor surface information is acquired; a horizontal trajectory determination element which determines a desired horizontal motion trajectory of the distal end of the free leg from a ground contact position immediately before starting the leaving motion of the distal end of the free leg to the set desired landing position, so as to prevent a contact at least between the free leg and another leg; a lower-limit height determination element which sets a plurality of sampling points on the determined desired horizontal motion trajectory and determines the lower-limit height of the distal end of the free leg, which is necessary to prevent a contact between the distal end of the free leg at the position of the sampling point and the floor surface of a local region existing at the position of the sampling point among the plurality of local regions in which the floor surface information is acquired, on the basis of the floor surface information of the local region existing at the position of the sampling point for each sampling point; and a vertical trajectory determination element which determines a desired vertical motion trajectory of the distal end of the free leg so that the height of the distal end of the free leg at the positions of the plurality of sampling points is equal to or greater than the determined lower-limit height.