METHOD OF CONTROLLING MOVEMENT OF MOBILE ROBOT, AND MOBILE ROBOT

摘要

PROBLEM TO BE SOLVED: To provide a method of controlling the movement of a legged robot can stably perform a smooth moving operation. SOLUTION: In a walking operation performing step (ST200), a one-step operation until a loose leg lands a floor after leaving the floor and striding thereon is performed. In a re-calculation step (ST300), the path of the operations in the next walking operation performing step (ST200) is re-calculated while the one-step operation is performed by the walking operation performing step (ST200). The re-calculation step (ST300) includes a gravity center position displacement calculation step of calculating positional displacement between the center of a gravity position targeted after the one-step operation in the walking operation performing step (ST200) and the actual center of the gravity position, a gravity center position updating step of updating the target center of the gravity position according to the actual center of the gravity position, and a path calculation step of calculating the path of the moving operations performed in the next walking operation performing step (ST200) with reference to the updated center of gravity position. COPYRIGHT: (C)2010,JPO&INPIT