| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a gait generating device capable of generating a target gait of a robot by appropriately reflecting a restriction condition for limiting the operation of a joint of each leg link when generating the target gait for moving the robot. <P>SOLUTION: The gait generating device 32 includes a desired particular-site motion velocity value determining means 45 that uses a quadratic evaluation function having a particular-site motion velocity vector Vb as a variable and a linear matrix inequality having the vector Vb as a variable to sequentially determine as a desired value vector Vb_cmd2 of the vector Vb, a value of the vector Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates the vector Vb_cmd2, thereby sequentially determining desired values of the position and posture of a particular site (body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operation of the joint between the particular site 2 and the distal portion of each leg link 3. <P>COPYRIGHT: (C)2013,JPO&INPIT |
