| 摘要 |
PROBLEM TO BE SOLVED: To efficiently and properly determine targets regarding external force to be applied to a robot when generating target gait of the robot under such a situation that external force is applied to the robot from a plurality of surfaces to be contacted. SOLUTION: A device of generating gait of a leg-type mobile robot uses virtual surfaces S3a, S2a, S2b to approximate a plurality of the surfaces FL, WL1, WL2 to be contacted in operating environment of the robot 1, and determines provisional values of translational force (required virtual surface translational force) to be applied from the virtual surfaces S3a, S2a, S2b to the robot 1 in order to implement translational motion of target motion of the entire robot 1. Further, to implement rotating motion of the target motion of the entire robot 1, the device of generating gait determines the moment compensation amount to be combined with the provisional values of the required virtual surface translational force, and then determines the target external force to be applied from each surface to be contacted to the robot 1 and the target external force action points on the basis of combination of the provisional values of the required virtual surface translational force and the moment compensation amount. COPYRIGHT: (C)2011,JPO&INPIT |
