| 摘要 |
PROBLEM TO BE SOLVED: To prevent a large moment from acting on a joint of a base end part of a leg body carrying out floor-leaving and floor-landing actions when making a two-leg mobile robot carry out one-leg hopping action. SOLUTION: When making the two-leg mobile robot 1 carry out the one-leg hopping action, the target movement (a target posture of an upper body 24) of the robot 1 is generated in such a way that a base end part of a leg body 2 (the leg body 2 at a free leg side) different from a leg body 2 at a support leg side is present at a relatively higher position than the base end part of the leg body 2 at the support leg side, in a floor landing state after floor-leaving of the leg body 2 (the leg body 2 at the support leg side) carrying out the floor-leaving and floor-landing actions. COPYRIGHT: (C)2012,JPO&INPIT |
