| 摘要 |
PROBLEM TO BE SOLVED: To restore a robot to a stable state without causing it to stumble even if the gravity is positioned on a swing leg when the leg detects an obstacle. SOLUTION: When a reflection control part 123d detects an obstacle, not only a rolling operation to a support leg and the swing leg are restored to the original stable position but also a gain sign of compliance control is inverted for a short time to extend the swing leg and the support leg is also controlled to bend by an extent that the swing leg is extended. In addition, when the robot comes into the stable state after the obstacle is detected, the reflection control part 123d activates the sole back and forth from side to side to search for a stable plane where the robot can continue walking, and if the plane is found, controls to allow the robot to walk on the stable plane. Moreover, when the robot walks on the stable plane, the reflection control part 123d controls the walking under static control. COPYRIGHT: (C)2009,JPO&INPIT |
