| 摘要 |
<P>PROBLEM TO BE SOLVED: To generate a target walking figure capable of satisfying a plurality of necessary conditions for a leg type mobile robot by making decision efficiently on the motion trajectory of an end of each leg body, and for satisfying the two or more necessary conditions. <P>SOLUTION: A first landing allowance area and a second landing allowance area of the target landing position of the end of an idling one (sole 22) of leg bodies 2 of a leg type mobile robot 1 are decided, a target landing position is decided in an area where the first and second landing allowance areas overlap, and a target walking figure of the robot is generated. The first landing allowance area is decided so as to satisfy necessary conditions for a geometrical leg motion. The second landing allowance area is decided to satisfy necessary conditions for the motor system attribute related to a prescribed floor reaction force element as a component of floor reaction force and a condition for a floor reaction force element tolerance range. <P>COPYRIGHT: (C)2012,JPO&INPIT |
