| 摘要 |
<P>PROBLEM TO BE SOLVED: To properly control the motion of a moving body in such a manner that a total contact force actually acting on the moving body from a plurality of contact object surfaces follows a target valuewithout requiring processing which determines correction amounts from the target motion of a position and a posture of each contact part of the moving body with each contact object surface. <P>SOLUTION: A required correction amount of the total contact force designed for bringing the deviation between an observation value of the total contact force acting on the moving body 101 from an i-th contact object surface and a target total contact force close to zero is converted into the springy displacement of a position and a posture of an i-th representative contact surface representing the 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 overall springy displacement consequent to arranging this springy displacement as to all contact object surfaces by a pseudo inverse matrix Jc<SP POS="POST">-1</SP>of an overall Jacobian matrix Jc, 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 |
