| 摘要 |
<p>A first provisional desired motion trajectory in the future of an object 120 is determined on the basis of a moving plan of the object 120, and it is determined whether a motion of a leg of a robot 1 that satisfies a necessary requirement is possible or not, the necessary requirement being such that a requirement related to a position/posture relationship between the object and the robot is satisfied at least at the step of a predetermined number of steps of two or more in the future and a restrictive condition related to a motion of a leg of the robot 1 is satisfied at each step up to the step of the predetermined number of steps. If a determination result is affirmative, then a desired gait is generated on the basis of the first provisional desired motion trajectory, or if the determination result is negative, then a desired gait is generated on the basis of a desired motion trajectory of the object 120 according to a corrected moving plan. Thus, a desired gait of the robot which minimizes a situation requiring a correction of a moving plan and allows the object to be moved according to a moving plan as much as possible can be generated, independently of a moving direction of the object with respect to the robot.</p> |
