| 摘要 |
PROBLEM TO BE SOLVED: To generate a center-of-gravity trajectory enabling stable movement while avoiding slipping around a vertical axis, without using upper body movement of a robot.SOLUTION: A method of generating a center-of-gravity trajectory includes: a step of using a single mass model to generate the center-of-gravity trajectory so that a ZMP constraint based on a set target ZMP trajectory; a step of using the generated center-of-gravity trajectory and a multi-mass model to calculate moment around the center-of-gravity produced around a center-of-gravity of a walking robot; a step of using limit values which are respectively set for floor reaction moment around the vertical axis and horizontal translating floor reaction, regarding floor reaction received by a sole of the robot upon contact with the floor, and the calculated moment around the center-of-gravity to calculate constraints of acceleration of center-of-gravity; and a step of using the single mass model to generate the center-of-gravity trajectory so that the ZMP constraint and the calculated constraints of the acceleration of center-of-gravity are satisfied. |
