| 摘要 |
PROBLEM TO BE SOLVED: To provide a control method of a legged robot which can satisfy both of the high stability and the followability to a targeted ZMP; and a legged robot.SOLUTION: A control method of a legged robot is the control method of a robot 10 which follows and walks to the orbit of a targeted ZMP. In the control method of the legged robot, a valuation function of the optimization in a model prediction control is configured such that the value containing the sum of the amount of weighted targeted ZMP correction and the amount of weighted landing position correction is minimized, wherein the weight of the amount of landing position correction is changed according to the time remaining until the swing leg landing, the model prediction control is performed, and the optimal solution of the amount of targeted ZMP correction and the amount of landing position correction is computed. |
