| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of efficiently generating gait data of a legged robot. SOLUTION: The method of generating the gait data includes the following first to fourth steps. In the first step, an initial value is substituted into an operation-dependent moment term to determine the center of gravity and a target track of legs in a ZMP equation of the legged robot. The operation-dependent moment means moment caused by motion of the legs of the legged robot to work around the center of gravity. In the second step, angular momentum around the center of gravity at each time on the target track of the center of gravity is calculated by applying a mass point model of the legged robot to the obtained center of gravity and the target track of the legs. In the mass point model, each leg is modeled by one mass point. In the third step, equivalent moment corresponding to a change in the angular momentum is calculated from the angular momentum at each time. In the fourth step, the equivalent moment is substituted into the operation-dependent moment term of the ZMP equation to re-determine the center of gravity and the target track of the legs. COPYRIGHT: (C)2011,JPO&INPIT |
