| 摘要 |
<P>PROBLEM TO BE SOLVED: To operate floor reaction force so as to prevent generation of a floor reaction component which does not contribute to reduction in deviation between an actual posture and a targeted posture of the leg type mobile robot as much as possible. <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 an posture state amount deviation representing the degree of deviation between the actual posture and targeted posture of the leg type mobile robot 1 to "0" is deviated from an existence permission region, the target of actual floor reaction force is determined so that an intersection formed by a line segment formed by connecting a target position (target ZMP) of the all floor reaction force center point when assuming that the external force operation amount of the actual robot is "0" and the compensation ZMP before limitation and a border line of an existence permission region may be the all floor reaction force center point (compensation ZMP after limitation). <P>COPYRIGHT: (C)2012,JPO&INPIT |
