| 摘要 |
<P>PROBLEM TO BE SOLVED: To heighten an attitude deviation reducing effect by an operation of floor reaction force by preventing excessive limitation of operation of floor reaction force made to act on an actual robot so that deviation between an actual attitude and a targeted attitude of the leg type moving robot may be reduced. <P>SOLUTION: When an all floor reaction force center point (compensation ZMP before limitation) formed by assuming that floor reaction force is operated according to an external force operation amount of the actual robot as a feed back operation amount functioning to approach the attitude state amount deviation representing the degree of deviation between the actual attitude and the targeted attitude of the leg type moving robot 1 to "0" is deviated from an existence permission region set in a region having a shape different from a square shape in a period at which a plurality of legs 2 of the robot 1 are attached to the floor, the target of the actual floor reaction force is determined so that the all floor reaction force center point may be positioned in the point (compensation ZMP after limitation) the nearest to the compensation ZMP before limitation of the existence permission region. <P>COPYRIGHT: (C)2012,JPO&INPIT |
