GAIT GENERATING DEVICE FOR LEGGED MOBILE ROBOT AND OPERATIONAL TARGET GENERATING DEVICE FOR ROBOT

摘要

A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector↑Vb as a variable and a linear matrix inequality having↑Vb as a variable to sequentially determine, as a desired value↑Vb_cmd2 of↑Vb, a value of↑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↑Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.