| 摘要 |
<P>PROBLEM TO BE SOLVED: To appropriately control the motion of a moving body in such a manner that a total floor reaction force actually acting on the moving body follows a target total floor reaction force without requiring processing which determines correction amounts from the target motion of a position and a posture of an end of each leg link. <P>SOLUTION: The required correction amount of the total floor reaction force designed for bringing deviation between an observation value of the total floor reaction force acting on the moving body 101 and the target total floor reaction force close to zero is converted into the springy displacement of a position and a posture of a representative contact surface representing a contact surface of the moving body 101, the correction amount of the displacement of each joint of the moving body 101 is determined by multiplying this springy displacement by a pseudo inverse matrix Jc<SP POS="POST">-1</SP>of a Jacobian matrix Jc representing a relationship between the variation of the position and posture of the representative contact surface per unit time and the variation of a generalization variable vector of the moving body 101 per unit time, thereby correcting the target displacement of each joint. The displacement of each joint is controlled according to the corrected target joint displacement. <P>COPYRIGHT: (C)2013,JPO&INPIT |
