| 摘要 |
PROBLEM TO BE SOLVED: To stably perform the desired operations of a mobile robot while preventing the staggering of the mobile robot having a spring member in a power transmission system between a joint and an actuator for driving the joint. SOLUTION: In this control device for a mobile robot 1, the desired value of a motion state amount of the mobile robot includes at least the desired value of the vertical component of the first-order differential value of the translational momentum of the entire mobile robot 1. The desired value is determined by a state amount desired value determiner 84 such that the observed value of the vertical position of the overall center-of-gravity point of the mobile robot 1 is converged to a predetermined desired value according to a feedback control law. A control input determiner 85 carries out the processing of inverse dynamics calculation, using the desired value of the motion state amount thereby to determine the desired driving force for each joint. The operation of an actuator 50 is controlled on the basis of the determined desired driving force. COPYRIGHT: (C)2011,JPO&INPIT |
