| 摘要 |
PROBLEM TO BE SOLVED: To provide a biped walking robot easily controlling a posture. SOLUTION: The biped walking robot is provided with first and second leg parts having a plurality of joint parts the angles of which are controlled, a storage part 2 storing information about a shape and a size of a sole of the leg part, and a control part 1 for controlling the angles of the plurality of the joint parts so as to execute walking action by the first and the second leg parts. In the soles of the first and the second leg parts, an end in a longitudinal direction is a distal end part, and the other end is a rear end part, and on the walk surface, the soles are arranged in the state where the longitudinal direction of the one sole and the longitudinal direction of the other sole cross with each other on the rear end part side at a prescribed angle. The control part 1 adjusts angle control amounts of the plurality of the joint parts based on the information about the shape and the size of the sole stored in the storage part 2 so that the grounding positions of the soles of the first and the second leg parts in the walking action do not overlap. COPYRIGHT: (C)2009,JPO&INPIT
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