| 摘要 |
PROBLEM TO BE SOLVED: To provide a device for generating gait data capable of performing stable elevation and lowering operation of a four legged robot even for unknown steps.SOLUTION: An embodiment includes: a motion setting means (step ST2) for setting all motions of four legs climbing or descending steps on the basis of step information; a toe global coordinate calculation means (step ST6) for calculating global coordinates of toes of all the motions of the four legs on the basis of the step information; body global coordinate calculation means (steps ST8, ST10) for calculating global coordinates of a robot body on the basis of the step information; a toe local coordinate calculation means (step ST18) for calculating toe local coordinates of all the motions of the four legs about a hip joint on the basis of the global coordinates of the toes and the global coordinates of the robot body; and a local coordinate output means (step ST22) for outputting the toe local coordinates to a leg drive control device 14. |
