| 摘要 |
PROBLEM TO BE SOLVED: To properly determine target values of external force (translational 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 of which mutual orientation relation is predetermined to approximate a plurality of the surfaces FL, WL1, WL2 to be contacted in operating environment of the robot 1, determines translational force (required virtual surface translational force) to be applied from the virtual surfaces S3a, S2a, S2b to the robot 1 in order to satisfy at least a first A required condition, a first B required condition, and a second required condition regarding the vertical drag force element and frictional force element, and also determines the target translational force to be applied to the robot 1 from the surfaces to be contacted corresponding to each virtual surface on the basis of the determined required virtual surface translational force. COPYRIGHT: (C)2011,JPO&INPIT |
