| 摘要 |
PURPOSE: A robot, a walking control device and a walking control method are provided to prevent the unstable walking of a robot by restoring a walking pattern after a preview time is gradually diminished. CONSTITUTION: A robot comprises a walking pattern generating unit(55) and a footstep planner(53). When the walking pattern is changed, the walking pattern generating unit generates changed walking pattern by varying preview time. The preview time is diminished and is restored to the base time. The footstep planner receives walking command of the robot and generates footstep information. The footstep planner changes the footstep information coping with the preview time. |
