| 摘要 |
PROBLEM TO BE SOLVED: To provide a legged robot capable of keeping contact between a sole and a road surface while effectively obtaining floor reactive force moment even on an uneven surface, and also to provide a control method for the same. SOLUTION: The legged robot includes a trunk 10, a leg 20, a foot 26, a tumble direction detecting part for detecting the tumbling direction of the trunk 10, a control part 30, and a distance detecting part for detecting a distance between the sole of the foot 26 and the road surface. The distance detecting part 30 comprises at least three distance sensors provided on the sole. The control part 30 has a distance sensor selecting means for selecting the distance sensor and a gait data correcting means for correcting gait data based on a detection signal from the distance sensor selected by the distance sensor selecting means. The distance sensor selecting means selects the three distance sensors among distance sensors, based on the detection results of the tumble direction detecting part. COPYRIGHT: (C)2009,JPO&INPIT
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