| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a robot the walking of which is stably controlled by calculating the point of capture with the center of gravity synthesized with the velocity of the robot and by controlling the point of capture during the walking of the robot, and a method for controlling the same. <P>SOLUTION: The invention relates to a biped robot having a pair of six-degree freedom legs. A finite state machine (FSM) is composed by motions analogous to human walking to be able to make natural walking motions and is made to walk without bending its knees, thereby enabling walk with long strides and the efficient use of energy. <P>COPYRIGHT: (C)2013,JPO&INPIT |
