CONTROL METHOD OF LEG TYPE MOVING ROBOT

摘要

A control method for a legged mobile robot includes a first step for exercising a body 2 of a robot 1 such that a center of gravity G of the robot 1 obtains a momentum or the body 2 obtains an angular momentum in a direction in which an object A is to be moved while restraining a force from being applied to the object A from the robot in a state wherein the robot 1 opposes the object A, and a second step for applying a force to the object A from a hand 7 of an arm body 5 provided in the body 2 of the robot 1 so as to start moving the object A in a state wherein the center of gravity G has obtained the momentum or the body 2 has an angular momentum. With this arrangement, when moving an object by a robot, a motion of the robot can be smoothly changed while preventing a significant change in ZMP before and after starting to move the object.