| 摘要 |
<P>PROBLEM TO BE SOLVED: To enable continuous movement of a robot to be carried out by actions allowing floor-leaving and floor-landing actions of each leg body to be alternately carried out with two leg bodies in a situation where the continuous movement of the two-leg mobile robot is difficult to perform. <P>SOLUTION: The action mode of the two-leg mobile robot 1 has a both leg alternate floor-leaving and floor-landing action mode and an one-leg hopping action mode. During action in the both leg alternate floor-leaving and floor-landing action mode, it is determined whether or not a target walking figure allowing the movement of the robot 1 in the action mode to be continued can be generated (S040). When the determination result becomes negative, it is determined whether or not the target walking figure allowing the movement of the robot 1 to be continued by changing the action mode to the one-leg hopping action mode can be generated (S041). When the determination result becomes affirmative, the target walking figure is generated by changing the action mode to the one-leg hopping action mode. <P>COPYRIGHT: (C)2012,JPO&INPIT |
