| 摘要 |
PROBLEM TO BE SOLVED: To obtain a biped walking robot for preventing the inclination of a sole while securing walking stability when the sole is unexpectedly inclined to a road surface.SOLUTION: The biped walking robot includes a distance sensor for measuring a distance from the sole to the road surface. A controller for controlling an each leg joint executes the following processing. The controller includes: a gravitational acceleration calculation step of calculating gravitational acceleration when the distance sensor detects an unexpected inclination to the road surface; a determination step of a track of the gravitational center for calculating the track of the gravitational center by solving a ZMP equation with the calculated gravitational acceleration as an initial value and on a terminal condition that a predetermined speed is provided at the end terminal of a predetermined period; and a calculation step of a joint target angle for calculating time series data of the target angle of the leg joint based on the calculated track of the gravitational center. The controller controls the each leg joint to follow the time series data of the target angle calculated in the calculation step of the joint target angle. |
