| 摘要 |
<p>Provided is a method for determining the timing with which a biped walking robot lands a foot. In this method, first, a ZMP equation representative of the track of a center of gravity is solved using a given landing timing, the equation including a first single-foot ground contact period during which the robot stands only on a first foot and a second single-foot ground contact period during which the robot stands only on a second foot subsequently after the first single-foot ground contact period. A second-foot ZMP position is calculated which is indicative of a ZMP position during the second single-foot ground contact period. If the resulting second-foot ZMP position is out of a second-foot ZMP tolerable region which is defined corresponding to a second-foot landing allowable region, the landing timing is modified so that the second-foot ZMP position is within the second-foot ZMP tolerable region.</p> |
