Motion controlling apparatus and motion controlling method for legged mobile robot, and robot apparatus

摘要

A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behaviour plan of a foot part thereof is disabled.

The robot comprises external force detection means for detecting application of an external force to a body of said legged mobile robot; zero moment point trajectory planning means for disposing a zero moment point at which moments applied to said body balance each other on or on the inner side of a side of a support polygon formed from a sole landed point and a floor based on a result of the detection by said external force detection means; and tumbling motion execution means for executing a tumbling motion of said body in response to that the disposition of the zero moment point in the support polygon by said zero moment point trajectory planning means is rendered difficult or impossible by the external force applied to said body.