| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a method for determining the foot trajectory of a legged robot so as to prevent the load on an actuator from becoming excessive. <P>SOLUTION: The method for determining the foot trajectory of a legged walking robot, includes a path determination step and a one step time determination step. The path determination step determines a motion path of a foot from a takeoff position to a landing position along which the foot moves. The one step time determination step evaluates a value as an one step time necessary for the foot to takeoff and land by dividing the length of the motion path by an average motion speed of the foot. The determined motion path and the one step time correspond to the foot trajectory. <P>COPYRIGHT: (C)2012,JPO&INPIT |
