| 摘要 |
PROBLEM TO BE SOLVED: To make both compatible in a grounding property of respective feet of a robot and stability of an attitude of the robot.SOLUTION: A vertical force distribution part possessed by a leg type mobile robot determines a condition of making the total value of distribution vertical floor reaction of the respective feet coincide with vertical force of target total floor reaction and a condition of enlarging a value of the distribution vertical floor reaction of the respective feet more than a predetermined threshold value, as a constraint condition, and sets an error between the floor reaction moment around a target ZMP and the compensation moment based on the distribution vertical floor reaction of the respective feet as a first error, and sets an error between a respective-feed floor reaction central point and a predetermined reference position of respective foot soles based on the distribution vertical floor reaction of the respective feet as a second error, and constitutes the optimization problem by determining an evaluation function for minimizing the weighted sum total of the first error and the second error, and calculates the distribution vertical floor reaction of the respective feet by solving its optimization problem. |
